Compare commits
1 Commits
satrs-v0.2
...
11b66c8bf7
| Author | SHA1 | Date | |
|---|---|---|---|
| 11b66c8bf7 |
@ -1,10 +1,9 @@
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[workspace]
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resolver = "2"
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members = [
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"satrs",
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"satrs-core",
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"satrs-mib",
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"satrs-example",
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"satrs-shared",
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]
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exclude = [
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19
README.md
19
README.md
@ -1,18 +1,13 @@
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<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
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[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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[](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
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[](https://crates.io/crates/satrs)
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[](https://docs.rs/satrs)
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sat-rs
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=========
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This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
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to write on-board software for remote systems like rovers or satellites. It is specifically written
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for the special requirements for these systems. You can find an overview of the project and the
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link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
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link to the [more high-level sat-rs book](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/)
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at the [IRS documentation website](https://documentation.irs.uni-stuttgart.de/sat-rs.html).
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A lot of the architecture and general design considerations are based on the
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[FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
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@ -27,12 +22,12 @@ This project currently contains following crates:
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Primary information resource in addition to the API documentation, hosted
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[here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
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this first before delving into the example application and the API documentation.
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* [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
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Primary crate.
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* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
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* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
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Core components of sat-rs.
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* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
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Example of a simple example on-board software using various sat-rs components which can be run
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on a host computer or on any system with a standard runtime like a Raspberry Pi.
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* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
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* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
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Components to build a mission information base from the on-board software directly.
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* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
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Example of a simple example on-board software using sat-rs components on a bare-metal system
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@ -46,7 +41,7 @@ Each project has its own `CHANGELOG.md`.
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* [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
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packet protocol implementations. This repository is re-exported in the
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[`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
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[`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
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crate.
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# Coverage
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@ -14,15 +14,8 @@ RUN rustup install nightly && \
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rustup target add thumbv7em-none-eabihf armv7-unknown-linux-gnueabihf && \
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rustup component add rustfmt clippy
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WORKDIR "/tmp"
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# Install cargo-nextest
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RUN curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C ${CARGO_HOME:-~/.cargo}/bin
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# Install mdbook and mdbook-linkcheck
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RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
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RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
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unzip mdbook-linkcheck.zip && \
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chmod +x mdbook-linkcheck && \
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cp mdbook-linkcheck /usr/local/bin
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# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
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RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.34/mdbook-v0.4.34-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
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# SSH stuff to allow deployment to doc server
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RUN adduser --uid 114 jenkins
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6
automation/Jenkinsfile
vendored
6
automation/Jenkinsfile
vendored
@ -32,7 +32,7 @@ pipeline {
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}
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stage('Test') {
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steps {
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sh 'cargo nextest r --all-features'
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sh 'cargo test --all-features'
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}
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}
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stage('Check with all features') {
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@ -47,7 +47,7 @@ pipeline {
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}
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stage('Check Cross Embedded Bare Metal') {
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steps {
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sh 'cargo check -p satrs --target thumbv7em-none-eabihf --no-default-features'
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sh 'cargo check -p satrs-core --target thumbv7em-none-eabihf --no-default-features'
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}
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}
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stage('Check Cross Embedded Linux') {
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@ -67,7 +67,7 @@ pipeline {
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sh 'mdbook build'
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sshagent(credentials: ['documentation-buildfix']) {
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// Deploy to Apache webserver
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sh 'rsync -r --delete book/html/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs/book/'
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sh 'rsync -r --delete book buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
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}
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}
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}
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@ -43,8 +43,8 @@ def main():
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parser.add_argument(
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"-p",
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"--package",
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choices=["satrs"],
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default="satrs",
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choices=["satrs-core"],
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default="satrs-core",
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help="Choose project to generate coverage for",
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)
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parser.add_argument(
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@ -1,650 +0,0 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<center>
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||||
<h4>ACS Mode Tree</h4>
|
||||
</center>
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|
||||
<table border="1">
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||||
<tr>
|
||||
<th>Mode</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUSs</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
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||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>SAFE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>OFF</td>
|
||||
<td>OFF</td>
|
||||
<td>NORMAL</td>
|
||||
<td>SAFE</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>IDLE</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>IDLE</td>
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<center>
|
||||
<h4>ACS IDLE Sequence</h4>
|
||||
</center>
|
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|
||||
<table border="1">
|
||||
<tr>
|
||||
<th>Step</th>
|
||||
<th>MGMs</th>
|
||||
<th>SUS</th>
|
||||
<th>STR</th>
|
||||
<th>MGT</th>
|
||||
<th>RWs</th>
|
||||
<th>ACS CTRL</th>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>1</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td>NORMAL</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td>2</td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td></td>
|
||||
<td>SAFE</td>
|
||||
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|
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|
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startxref
|
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13253
|
||||
%%EOF
|
||||
@ -5,14 +5,7 @@ High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttga
|
||||
|
||||
## Building
|
||||
|
||||
If you have not done so, install the pre-requisites first:
|
||||
|
||||
```sh
|
||||
cargo install mdbook --locked
|
||||
cargo install mdbook-linkcheck --locked
|
||||
```
|
||||
|
||||
After that, you can build the book with:
|
||||
If you have not done so, install `mdbook` using `cargo install mdbook --locked`.
|
||||
|
||||
```sh
|
||||
mdbook build
|
||||
|
||||
@ -4,6 +4,3 @@ language = "en"
|
||||
multilingual = false
|
||||
src = "src"
|
||||
title = "The sat-rs book"
|
||||
|
||||
[output.html]
|
||||
[output.linkcheck]
|
||||
|
||||
@ -2,16 +2,9 @@
|
||||
|
||||
- [Introduction](./introduction.md)
|
||||
- [Design](./design.md)
|
||||
|
||||
# Basic concepts and components
|
||||
|
||||
- [Communication with Space Systems](./communication.md)
|
||||
- [Working with Constrained Systems](./constrained-systems.md)
|
||||
- [Actions](./actions.md)
|
||||
- [Modes and Health](./modes-and-health.md)
|
||||
- [Housekeeping Data](./housekeeping.md)
|
||||
- [Events](./events.md)
|
||||
|
||||
# Example project
|
||||
|
||||
- [The satrs-example application](./example.md)
|
||||
|
||||
@ -1,5 +1,3 @@
|
||||
<div id="communication-chapter"/>
|
||||
|
||||
# Communication with sat-rs based software
|
||||
|
||||
Communication is a vital topic for remote system which are usually not (directly)
|
||||
@ -17,16 +15,10 @@ it is still centered around small packets. `sat-rs` provides support for these E
|
||||
standards and also attempts to fill the gap to the internet protocol by providing the following
|
||||
components.
|
||||
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/host/udp_server/index.html).
|
||||
1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html#).
|
||||
UDP is already packet based which makes it an excellent fit for exchanging space packets.
|
||||
2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
|
||||
TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
|
||||
from an arbitrary bytestream. Two concrete implementations are provided:
|
||||
- [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
to parse tightly packed CCSDS Spacepackets.
|
||||
- [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
|
||||
to parse generic frames wrapped with the
|
||||
[COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
|
||||
2. TCP TMTC Server. This is a stream based protocol, so the server uses the COBS framing protocol
|
||||
to always deliver complete packets.
|
||||
|
||||
# Working with telemetry and telecommands (TMTC)
|
||||
|
||||
|
||||
@ -11,56 +11,23 @@ time where the OBSW might be running on Linux based systems with hundreds of MBs
|
||||
|
||||
A useful pattern used commonly in space systems is to limit heap allocations to program
|
||||
initialization time and avoid frequent run-time allocations. This prevents issues like
|
||||
running out of memory (something even Rust can not protect from) or heap fragmentation on systems
|
||||
without a MMU.
|
||||
running out of memory (something even Rust can not protect from) or heap fragmentation.
|
||||
|
||||
# Using pre-allocated pool structures
|
||||
|
||||
A huge candidate for heap allocations is the TMTC and handling. TC, TMs and IPC data are all
|
||||
candidates where the data size might vary greatly. The regular solution for host systems
|
||||
might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
|
||||
another solution to avoid run-time allocations by offering pre-allocated static
|
||||
pools. These pools are split into subpools where each subpool can have different page sizes.
|
||||
For example, a very small telecommand (TC) pool might look like this:
|
||||
another solution to avoid run-time allocations by offering and recommendng pre-allocated static
|
||||
pools.
|
||||
|
||||
|
||||
These pools are split into subpools where each subpool can have different page sizes.
|
||||
For example, a very small TC pool might look like this:
|
||||
|
||||
The core of the pool abstractions is the
|
||||
[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
|
||||
This trait specifies the general API a pool structure should have without making assumption
|
||||
of how the data is stored.
|
||||
TODO: Add image
|
||||
|
||||
This trait is implemented by a static memory pool implementation.
|
||||
The code to generate this static pool would look like this:
|
||||
|
||||
<!-- Would be nice to test this code sample, but need to wait
|
||||
for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
|
||||
```rust, ignore
|
||||
use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
|
||||
|
||||
let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
|
||||
(6, 16),
|
||||
(4, 32),
|
||||
(2, 64),
|
||||
(1, 128)
|
||||
]));
|
||||
```
|
||||
|
||||
It should be noted that the buckets only show the maximum size of data being stored inside them.
|
||||
The store will keep a separate structure to track the actual size of the data being stored.
|
||||
A TC entry inside this pool has a store address which can then be sent around without having
|
||||
to dynamically allocate memory. The same principle can also be applied to the telemetry (TM) and
|
||||
inter-process communication (IPC) data.
|
||||
|
||||
You can read
|
||||
|
||||
- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
|
||||
- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
|
||||
|
||||
for more details.
|
||||
|
||||
In the future, optimized pool structures which use standard containers or are
|
||||
[`Sync`](https://doc.rust-lang.org/std/marker/trait.Sync.html) by default might be added as well.
|
||||
to dynamically allocate memory. The same principle can also be applied to the TM and IPC data.
|
||||
|
||||
# Using special crates to prevent smaller allocations
|
||||
|
||||
@ -68,7 +35,7 @@ Another common way to use the heap on host systems is using containers like `Str
|
||||
to work with data where the size is not known beforehand. The most common solution for embedded
|
||||
systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
|
||||
size variable. Alternatively, you can use the following crates for more convenience or a smart
|
||||
behaviour which at the very least reduces heap allocations:
|
||||
behaviour which at the very least reduce heap allocations:
|
||||
|
||||
1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
|
||||
2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an
|
||||
|
||||
@ -1,152 +0,0 @@
|
||||
# sat-rs Example Application
|
||||
|
||||
The `sat-rs` framework includes a monolithic example application which can be found inside
|
||||
the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
|
||||
subdirectory of the repository. The primary purpose of this example application is to show how
|
||||
the various components of the sat-rs framework could be used as part of a larger on-board
|
||||
software application.
|
||||
|
||||
## Structure of the example project
|
||||
|
||||
The example project contains components which could also be expected to be part of a production
|
||||
On-Board Software. A structural diagram of the example application is given to provide
|
||||
a brief high-level view of the components used inside the example application:
|
||||
|
||||
|
||||
|
||||
The dotted lines are used to denote optional components. In this case, the static pool components
|
||||
are optional because the heap can be used as a simpler mechanism to store TMTC packets as well.
|
||||
Some additional explanation is provided for the various components.
|
||||
|
||||
### TCP/IP server components
|
||||
|
||||
The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
|
||||
might be an optional component for an OBSW which is only used during the development phase on
|
||||
ground. The UDP server is strongly based on the
|
||||
[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
|
||||
This server component is wrapped by a TMTC server which handles all telemetry to the last connected
|
||||
client.
|
||||
|
||||
The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
|
||||
class. It parses space packets by using the CCSDS space packet ID as the packet
|
||||
start delimiter. All available telemetry will be sent back to a client after having read all
|
||||
telecommands from the client.
|
||||
|
||||
### TMTC Infrastructure
|
||||
|
||||
The most important components of the TMTC infrastructure include the following components:
|
||||
|
||||
- A TC source component which demultiplexes and routes telecommands based on parameters like
|
||||
packet APID or PUS service and subservice type.
|
||||
- A TM sink sink component which is the target of all sent telemetry and sends it to downlink
|
||||
handlers like the UDP and TCP server.
|
||||
|
||||
You can read the [Communications chapter](./communication.md) for more
|
||||
background information on the chosen TMTC infrastructure approach.
|
||||
|
||||
### PUS Service Components
|
||||
|
||||
A PUS service stack is provided which exposes some functionality conformant with the ECSS PUS
|
||||
services. This currently includes the following services:
|
||||
|
||||
- Service 1 for telecommand verification. The verification handling is handled locally: Each
|
||||
component which generates verification telemetry in some shape or form receives a
|
||||
[reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
|
||||
object which can be used to send PUS 1 verification telemetry to the TM funnel.
|
||||
- Service 3 for housekeeping telemetry handling.
|
||||
- Service 5 for management and downlink of on-board events.
|
||||
- Service 8 for handling on-board actions.
|
||||
- Service 11 for scheduling telecommands to be released at a specific time. This component
|
||||
uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
|
||||
which performs the core logic of scheduling telecommands. All telecommands released by the
|
||||
scheduler are sent to the central TC source using a message.
|
||||
- Service 17 for test purposes like pings.
|
||||
|
||||
### Event Management Component
|
||||
|
||||
An event manager based on the sat-rs
|
||||
[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
|
||||
is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
|
||||
telemetry by the
|
||||
[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
|
||||
|
||||
You can read the [events](./events.md) chapter for more in-depth information about event management.
|
||||
|
||||
### Sample Application Components
|
||||
|
||||
These components are example mission specific. They provide an idea how mission specific modules
|
||||
would look like the sat-rs context. It currently includes the following components:
|
||||
|
||||
- An Attitute and Orbit Control (AOCS) example task which can also process some PUS commands.
|
||||
|
||||
## Dataflow
|
||||
|
||||
The interaction of the various components is provided in the following diagram:
|
||||
|
||||
|
||||
|
||||
It should be noted that an arrow coming out of a component group refers to multiple components
|
||||
in that group. An explanation for important component groups will be given.
|
||||
|
||||
#### TMTC component group
|
||||
|
||||
This groups is the primary interface for clients to communicate with the on-board software
|
||||
using a standardized TMTC protocol. The example uses the
|
||||
[ECSS PUS protocol](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
|
||||
In the future, this might be extended with the
|
||||
[CCSDS File Delivery Protocol](https://public.ccsds.org/Pubs/727x0b5.pdf).
|
||||
|
||||
A client can connect to the UDP or TCP server to send these PUS packets to the on-board software.
|
||||
These servers then forward the telecommads to a centralized TC source component using a dedicated
|
||||
message abstraction.
|
||||
|
||||
This TC source component then demultiplexes the message and forwards it to the relevant components.
|
||||
Right now, it forwards all PUS requests to the respective PUS service handlers using the PUS
|
||||
receiver component. The individual PUS services are running in a separate thread. In the future,
|
||||
additional forwarding to components like a CFDP handler might be added as well. It should be noted
|
||||
that PUS11 commands might contain other PUS commands which should be scheduled in the future.
|
||||
These wrapped commands are forwarded to the PUS11 handler. When the schedule releases those
|
||||
commands, it forwards the released commands to the TC source again. This allows the scheduler
|
||||
and the TC source to run in separate threads and keeps them cleanly separated.
|
||||
|
||||
All telemetry generated by the on-board software is sent to a centralized TM funnel. This component
|
||||
also performs a demultiplexing step to forward all telemetry to the relevant TM recipients.
|
||||
In the example case, this is the last UDP client, or a connected TCP client. In the future,
|
||||
forwarding to a persistent telemetry store and a simulated communication component might be
|
||||
added here as well. The centralized TM funnel also takes care of some packet processing steps which
|
||||
need to be applied for each ECSS PUS packet, for example CCSDS specific APID incrementation and
|
||||
PUS specific message counter incrementation.
|
||||
|
||||
#### Application Group
|
||||
|
||||
The application components generally do not receive raw PUS packets directly, even though
|
||||
this is certainly possible. Instead, they receive internalized messages from the PUS service
|
||||
handlers. For example, instead of receiving a PUS 8 Action Telecommand directly, an application
|
||||
component will receive a special `ActionRequest` message type reduced to the basic important
|
||||
information required to execute a request. These special requests are denoted by the blue arrow
|
||||
in the diagram.
|
||||
|
||||
It should be noted that the arrow pointing towards the event manager points in both directions.
|
||||
This is because the application components might be interested in events generated by other
|
||||
components as well. This mechanism is oftentimes used to implement the FDIR functionality on system
|
||||
and component level.
|
||||
|
||||
#### Shared components and functional interfaces
|
||||
|
||||
It should be noted that sometimes, a functional interface is used instead of a message. This
|
||||
is used for the generation of verification telemetry. The verification reporter is a clonable
|
||||
component which generates and sends PUS1 verification telemetry directly to the TM funnel. This
|
||||
introduces a loose coupling to the PUS standard but was considered the easiest solution for
|
||||
a project which utilizes PUS as the main communication protocol. In the future, a generic
|
||||
verification abstraction might be introduced to completely decouple the application layer from
|
||||
PUS.
|
||||
|
||||
The same concept is applied if the backing store of TMTC packets are shared pools. Every
|
||||
component which needs to read telecommands inside that shared pool or generate new telemetry
|
||||
into that shared pool will received a clonable shared handle to that pool.
|
||||
|
||||
The same concept could be extended to power or thermal handling. For example, a shared power helper
|
||||
component might be used to retrieve power state information and send power switch commands through
|
||||
a functional interface. The actual implementation of the functional interface might still use
|
||||
shared memory and/or messages, but the functional interface makes using and testing the interaction
|
||||
with these components easier.
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 38 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 254 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 167 KiB |
@ -7,16 +7,3 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
|
||||
and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
# [unreleased]
|
||||
|
||||
# [v0.1.2] 2024-02-17
|
||||
|
||||
- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
|
||||
|
||||
# [v0.1.1] 2024-02-12
|
||||
|
||||
- Added missing `#![no_std]` attribute for library
|
||||
- Fixed unit tests
|
||||
|
||||
# [v0.1.0] 2024-02-12
|
||||
|
||||
Initial release.
|
||||
@ -1,28 +1,33 @@
|
||||
[package]
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
name = "satrs-core"
|
||||
version = "0.1.0-alpha.1"
|
||||
edition = "2021"
|
||||
rust-version = "1.61"
|
||||
authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
|
||||
description = "A framework to build software for remote systems"
|
||||
homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
|
||||
description = "Core components of the sat-rs framework to build software for remote systems"
|
||||
homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
|
||||
license = "Apache-2.0"
|
||||
keywords = ["no-std", "space", "aerospace"]
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
delegate = ">0.7, <=0.10"
|
||||
paste = "1"
|
||||
smallvec = "1"
|
||||
crc = "3"
|
||||
satrs-shared = "0.1.2"
|
||||
# TODO: Remove this as soon as the image including the description was moved to the satrs-book.
|
||||
embed-doc-image = "0.1"
|
||||
|
||||
[dependencies.smallvec]
|
||||
version = "1"
|
||||
|
||||
[dependencies.num_enum]
|
||||
version = ">0.5, <=0.7"
|
||||
default-features = false
|
||||
|
||||
[dependencies.crc]
|
||||
version = "3"
|
||||
|
||||
[dependencies.dyn-clone]
|
||||
version = "1"
|
||||
optional = true
|
||||
@ -68,8 +73,10 @@ features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
version = "0.10"
|
||||
version = "0.7.0"
|
||||
default-features = false
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
@ -109,7 +116,7 @@ alloc = [
|
||||
"dyn-clone",
|
||||
"downcast-rs"
|
||||
]
|
||||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
serde = ["dep:serde", "spacepackets/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
doc-images = []
|
||||
9
satrs-core/README.md
Normal file
9
satrs-core/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
[](https://crates.io/crates/satrs-core)
|
||||
[](https://docs.rs/satrs-core)
|
||||
|
||||
satrs-core
|
||||
======
|
||||
|
||||
This crate contains the core components of the sat-rs framework.
|
||||
You can find more information on [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
|
||||
|
||||
@ -19,5 +19,7 @@ Checklist for new releases
|
||||
|
||||
# Post-Release
|
||||
|
||||
1. Create a new release on `EGit` with the name `satrs-<version>`.
|
||||
1. Create a new annotaged tag and push it with `git tag -a satrs-core-<version>` and
|
||||
`git push -u origin satrs-core-<version>`
|
||||
2. Create a new release on `EGit` based on the tag.
|
||||
|
||||
@ -23,7 +23,7 @@ use spacepackets::{
|
||||
tlv::{msg_to_user::MsgToUserTlv, EntityIdTlv, GenericTlv, TlvType},
|
||||
ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
|
||||
},
|
||||
util::{UnsignedByteField, UnsignedEnum},
|
||||
util::UnsignedByteField,
|
||||
};
|
||||
use thiserror::Error;
|
||||
|
||||
370
satrs-core/src/cfdp/filestore.rs
Normal file
370
satrs-core/src/cfdp/filestore.rs
Normal file
@ -0,0 +1,370 @@
|
||||
use alloc::string::{String, ToString};
|
||||
use core::fmt::Display;
|
||||
use crc::{Crc, CRC_32_CKSUM};
|
||||
use spacepackets::cfdp::ChecksumType;
|
||||
use spacepackets::ByteConversionError;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
#[cfg(feature = "std")]
|
||||
pub use stdmod::*;
|
||||
|
||||
pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum FilestoreError {
|
||||
FileDoesNotExist,
|
||||
FileAlreadyExists,
|
||||
DirDoesNotExist,
|
||||
Permission,
|
||||
IsNotFile,
|
||||
IsNotDirectory,
|
||||
ByteConversion(ByteConversionError),
|
||||
Io {
|
||||
raw_errno: Option<i32>,
|
||||
string: String,
|
||||
},
|
||||
ChecksumTypeNotImplemented(ChecksumType),
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for FilestoreError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversion(value)
|
||||
}
|
||||
}
|
||||
|
||||
impl Display for FilestoreError {
|
||||
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
FilestoreError::FileDoesNotExist => {
|
||||
write!(f, "file does not exist")
|
||||
}
|
||||
FilestoreError::FileAlreadyExists => {
|
||||
write!(f, "file already exists")
|
||||
}
|
||||
FilestoreError::DirDoesNotExist => {
|
||||
write!(f, "directory does not exist")
|
||||
}
|
||||
FilestoreError::Permission => {
|
||||
write!(f, "permission error")
|
||||
}
|
||||
FilestoreError::IsNotFile => {
|
||||
write!(f, "is not a file")
|
||||
}
|
||||
FilestoreError::IsNotDirectory => {
|
||||
write!(f, "is not a directory")
|
||||
}
|
||||
FilestoreError::ByteConversion(e) => {
|
||||
write!(f, "filestore error: {e}")
|
||||
}
|
||||
FilestoreError::Io { raw_errno, string } => {
|
||||
write!(
|
||||
f,
|
||||
"filestore generic IO error with raw errno {:?}: {}",
|
||||
raw_errno, string
|
||||
)
|
||||
}
|
||||
FilestoreError::ChecksumTypeNotImplemented(checksum_type) => {
|
||||
write!(f, "checksum {:?} not implemented", checksum_type)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Error for FilestoreError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
match self {
|
||||
FilestoreError::ByteConversion(e) => Some(e),
|
||||
_ => None,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl From<std::io::Error> for FilestoreError {
|
||||
fn from(value: std::io::Error) -> Self {
|
||||
Self::Io {
|
||||
raw_errno: value.raw_os_error(),
|
||||
string: value.to_string(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait VirtualFilestore {
|
||||
fn create_file(&self, file_path: &str) -> Result<(), FilestoreError>;
|
||||
|
||||
fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError>;
|
||||
|
||||
/// Truncating a file means deleting all its data so the resulting file is empty.
|
||||
/// This can be more efficient than removing and re-creating a file.
|
||||
fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError>;
|
||||
|
||||
fn remove_dir(&self, file_path: &str, all: bool) -> Result<(), FilestoreError>;
|
||||
|
||||
fn read_data(
|
||||
&self,
|
||||
file_path: &str,
|
||||
offset: u64,
|
||||
read_len: u64,
|
||||
buf: &mut [u8],
|
||||
) -> Result<(), FilestoreError>;
|
||||
|
||||
fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError>;
|
||||
|
||||
fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str>;
|
||||
|
||||
fn is_file(&self, path: &str) -> bool;
|
||||
|
||||
fn is_dir(&self, path: &str) -> bool {
|
||||
!self.is_file(path)
|
||||
}
|
||||
|
||||
fn exists(&self, path: &str) -> bool;
|
||||
|
||||
/// This special function is the CFDP specific abstraction to verify the checksum of a file.
|
||||
/// This allows to keep OS specific details like reading the whole file in the most efficient
|
||||
/// manner inside the file system abstraction.
|
||||
fn checksum_verify(
|
||||
&self,
|
||||
file_path: &str,
|
||||
checksum_type: ChecksumType,
|
||||
expected_checksum: u32,
|
||||
verification_buf: &mut [u8],
|
||||
) -> Result<bool, FilestoreError>;
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod stdmod {
|
||||
use super::*;
|
||||
use std::{
|
||||
fs::{self, File, OpenOptions},
|
||||
io::{BufReader, Read, Seek, SeekFrom, Write},
|
||||
path::Path,
|
||||
};
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct NativeFilestore {}
|
||||
|
||||
impl VirtualFilestore for NativeFilestore {
|
||||
fn create_file(&self, file_path: &str) -> Result<(), FilestoreError> {
|
||||
if self.exists(file_path) {
|
||||
return Err(FilestoreError::FileAlreadyExists);
|
||||
}
|
||||
File::create(file_path)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn remove_file(&self, file_path: &str) -> Result<(), FilestoreError> {
|
||||
if !self.exists(file_path) {
|
||||
return Ok(());
|
||||
}
|
||||
if !self.is_file(file_path) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
}
|
||||
fs::remove_file(file_path)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn truncate_file(&self, file_path: &str) -> Result<(), FilestoreError> {
|
||||
if !self.exists(file_path) {
|
||||
return Ok(());
|
||||
}
|
||||
if !self.is_file(file_path) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
}
|
||||
OpenOptions::new()
|
||||
.write(true)
|
||||
.truncate(true)
|
||||
.open(file_path)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn remove_dir(&self, dir_path: &str, all: bool) -> Result<(), FilestoreError> {
|
||||
if !self.exists(dir_path) {
|
||||
return Err(FilestoreError::DirDoesNotExist);
|
||||
}
|
||||
if !self.is_dir(dir_path) {
|
||||
return Err(FilestoreError::IsNotDirectory);
|
||||
}
|
||||
if !all {
|
||||
fs::remove_dir(dir_path)?;
|
||||
return Ok(());
|
||||
}
|
||||
fs::remove_dir_all(dir_path)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn read_data(
|
||||
&self,
|
||||
file_name: &str,
|
||||
offset: u64,
|
||||
read_len: u64,
|
||||
buf: &mut [u8],
|
||||
) -> Result<(), FilestoreError> {
|
||||
if buf.len() < read_len as usize {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
found: buf.len(),
|
||||
expected: read_len as usize,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
if !self.exists(file_name) {
|
||||
return Err(FilestoreError::FileDoesNotExist);
|
||||
}
|
||||
if !self.is_file(file_name) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
}
|
||||
let mut file = File::open(file_name)?;
|
||||
file.seek(SeekFrom::Start(offset))?;
|
||||
file.read_exact(&mut buf[0..read_len as usize])?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn write_data(&self, file: &str, offset: u64, buf: &[u8]) -> Result<(), FilestoreError> {
|
||||
if !self.exists(file) {
|
||||
return Err(FilestoreError::FileDoesNotExist);
|
||||
}
|
||||
if !self.is_file(file) {
|
||||
return Err(FilestoreError::IsNotFile);
|
||||
}
|
||||
let mut file = OpenOptions::new().write(true).open(file)?;
|
||||
file.seek(SeekFrom::Start(offset))?;
|
||||
file.write_all(buf)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn filename_from_full_path<'a>(&self, path: &'a str) -> Option<&'a str> {
|
||||
// Convert the path string to a Path
|
||||
let path = Path::new(path);
|
||||
|
||||
// Extract the file name using the file_name() method
|
||||
path.file_name().and_then(|name| name.to_str())
|
||||
}
|
||||
|
||||
fn is_file(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
path.is_file()
|
||||
}
|
||||
|
||||
fn is_dir(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
path.is_dir()
|
||||
}
|
||||
|
||||
fn exists(&self, path: &str) -> bool {
|
||||
let path = Path::new(path);
|
||||
if !path.exists() {
|
||||
return false;
|
||||
}
|
||||
true
|
||||
}
|
||||
|
||||
fn checksum_verify(
|
||||
&self,
|
||||
file_path: &str,
|
||||
checksum_type: ChecksumType,
|
||||
expected_checksum: u32,
|
||||
verification_buf: &mut [u8],
|
||||
) -> Result<bool, FilestoreError> {
|
||||
match checksum_type {
|
||||
ChecksumType::Modular => {
|
||||
todo!();
|
||||
}
|
||||
ChecksumType::Crc32 => {
|
||||
let mut digest = CRC_32.digest();
|
||||
let file_to_check = File::open(file_path)?;
|
||||
let mut buf_reader = BufReader::new(file_to_check);
|
||||
loop {
|
||||
let bytes_read = buf_reader.read(verification_buf)?;
|
||||
if bytes_read == 0 {
|
||||
break;
|
||||
}
|
||||
digest.update(&verification_buf[0..bytes_read]);
|
||||
}
|
||||
if digest.finalize() == expected_checksum {
|
||||
return Ok(true);
|
||||
}
|
||||
Ok(false)
|
||||
}
|
||||
ChecksumType::NullChecksum => Ok(true),
|
||||
_ => Err(FilestoreError::ChecksumTypeNotImplemented(checksum_type)),
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use std::{fs, path::Path, println};
|
||||
|
||||
use super::*;
|
||||
use tempfile::tempdir;
|
||||
|
||||
const NATIVE_FS: NativeFilestore = NativeFilestore {};
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_filestore_create() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
let result =
|
||||
NATIVE_FS.create_file(file_path.to_str().expect("getting str for file failed"));
|
||||
assert!(result.is_ok());
|
||||
let path = Path::new(&file_path);
|
||||
assert!(path.exists());
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_exists() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_write() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
println!("{}", file_path.to_str().unwrap());
|
||||
let write_data = "hello world\n";
|
||||
NATIVE_FS
|
||||
.write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
|
||||
.expect("writing to file failed");
|
||||
let read_back = fs::read_to_string(file_path).expect("reading back data failed");
|
||||
assert_eq!(read_back, write_data);
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_basic_native_fs_read() {
|
||||
let tmpdir = tempdir().expect("creating tmpdir failed");
|
||||
let file_path = tmpdir.path().join("test.txt");
|
||||
assert!(!NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
NATIVE_FS
|
||||
.create_file(file_path.to_str().expect("getting str for file failed"))
|
||||
.unwrap();
|
||||
assert!(NATIVE_FS.exists(file_path.to_str().unwrap()));
|
||||
assert!(NATIVE_FS.is_file(file_path.to_str().unwrap()));
|
||||
println!("{}", file_path.to_str().unwrap());
|
||||
let write_data = "hello world\n";
|
||||
NATIVE_FS
|
||||
.write_data(file_path.to_str().unwrap(), 0, write_data.as_bytes())
|
||||
.expect("writing to file failed");
|
||||
let read_back = fs::read_to_string(file_path).expect("reading back data failed");
|
||||
assert_eq!(read_back, write_data);
|
||||
fs::remove_dir_all(tmpdir).expect("clearing tmpdir failed");
|
||||
}
|
||||
}
|
||||
@ -9,7 +9,7 @@ use spacepackets::{
|
||||
pdu::{FileDirectiveType, PduError, PduHeader},
|
||||
ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
|
||||
},
|
||||
util::{UnsignedByteField, UnsignedEnum},
|
||||
util::UnsignedByteField,
|
||||
};
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -13,7 +13,7 @@ use cobs::{decode_in_place, encode, max_encoding_length};
|
||||
///
|
||||
/// ```
|
||||
/// use cobs::decode_in_place_report;
|
||||
/// use satrs::encoding::{encode_packet_with_cobs};
|
||||
/// use satrs_core::encoding::{encode_packet_with_cobs};
|
||||
//
|
||||
/// const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
|
||||
/// const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 2, 1];
|
||||
@ -18,7 +18,7 @@
|
||||
//! # Examples
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
|
||||
//! use satrs_core::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
|
||||
//!
|
||||
//! const MSG_RECVD: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(1, 0);
|
||||
//! const MSG_FAILED: EventU32 = EventU32::const_new(Severity::LOW, 1, 1);
|
||||
@ -412,10 +412,6 @@ impl UnsignedEnum for EventU32 {
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
self.base.write_to_bytes(self.raw(), buf, self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw().into()
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssEnumeration for EventU32 {
|
||||
@ -429,7 +425,6 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU32TypedSev<SEVERITY> {
|
||||
delegate!(to self.event {
|
||||
fn size(&self) -> usize;
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
|
||||
fn value(&self) -> u64;
|
||||
});
|
||||
}
|
||||
|
||||
@ -565,10 +560,6 @@ impl UnsignedEnum for EventU16 {
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
|
||||
self.base.write_to_bytes(self.raw(), buf, self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw().into()
|
||||
}
|
||||
}
|
||||
impl EcssEnumeration for EventU16 {
|
||||
#[inline]
|
||||
@ -582,7 +573,6 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU16TypedSev<SEVERITY> {
|
||||
delegate!(to self.event {
|
||||
fn size(&self) -> usize;
|
||||
fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
|
||||
fn value(&self) -> u64;
|
||||
});
|
||||
}
|
||||
|
||||
@ -1,13 +1,13 @@
|
||||
//! Task scheduling module
|
||||
use alloc::string::String;
|
||||
use bus::BusReader;
|
||||
use std::boxed::Box;
|
||||
use std::error::Error;
|
||||
use std::sync::mpsc::TryRecvError;
|
||||
use std::thread;
|
||||
use std::thread::JoinHandle;
|
||||
use std::time::Duration;
|
||||
use std::vec;
|
||||
use std::vec::Vec;
|
||||
use std::{io, thread};
|
||||
|
||||
#[derive(Debug, PartialEq, Eq)]
|
||||
pub enum OpResult {
|
||||
@ -34,49 +34,47 @@ pub trait Executable: Send {
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `executable`: Executable task
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks.
|
||||
/// If [None] is passed, no sleeping will be performed.
|
||||
/// * `op_code`: Operation code which is passed to the executable task
|
||||
/// [operation call][Executable::periodic_op]
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
|
||||
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
pub fn exec_sched_single<
|
||||
T: Executable<Error = E> + Send + 'static + ?Sized,
|
||||
E: Error + Send + 'static,
|
||||
>(
|
||||
mut executable: Box<T>,
|
||||
task_freq: Option<Duration>,
|
||||
op_code: i32,
|
||||
mut termination: Option<BusReader<()>>,
|
||||
) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
|
||||
) -> JoinHandle<Result<OpResult, E>> {
|
||||
let mut cycle_count = 0;
|
||||
thread::Builder::new()
|
||||
.name(String::from(executable.task_name()))
|
||||
.spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
}
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
thread::spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_count += 1;
|
||||
if cycle_count == cycles {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
}
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_count += 1;
|
||||
if cycle_count == cycles {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
}
|
||||
if let Some(freq) = task_freq {
|
||||
thread::sleep(freq);
|
||||
}
|
||||
})
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
}
|
||||
|
||||
/// This function allows executing multiple tasks as long as the tasks implement the
|
||||
@ -88,56 +86,55 @@ pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E:
|
||||
/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
|
||||
/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
|
||||
/// * `termination`: Optional termination handler which can cancel threads with a broadcast
|
||||
pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
|
||||
task_name: &'static str,
|
||||
pub fn exec_sched_multi<
|
||||
T: Executable<Error = E> + Send + 'static + ?Sized,
|
||||
E: Error + Send + 'static,
|
||||
>(
|
||||
mut executable_vec: Vec<Box<T>>,
|
||||
task_freq: Option<Duration>,
|
||||
op_code: i32,
|
||||
mut termination: Option<BusReader<()>>,
|
||||
) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
|
||||
) -> JoinHandle<Result<OpResult, E>> {
|
||||
let mut cycle_counts = vec![0; executable_vec.len()];
|
||||
let mut removal_flags = vec![false; executable_vec.len()];
|
||||
|
||||
thread::Builder::new()
|
||||
.name(String::from(task_name))
|
||||
.spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
removal_flags.iter_mut().for_each(|x| *x = true);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
thread::spawn(move || loop {
|
||||
if let Some(ref mut terminator) = termination {
|
||||
match terminator.try_recv() {
|
||||
Ok(_) | Err(TryRecvError::Disconnected) => {
|
||||
removal_flags.iter_mut().for_each(|x| *x = true);
|
||||
}
|
||||
Err(TryRecvError::Empty) => (),
|
||||
}
|
||||
for (idx, executable) in executable_vec.iter_mut().enumerate() {
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
for (idx, executable) in executable_vec.iter_mut().enumerate() {
|
||||
match executable.exec_type() {
|
||||
ExecutionType::OneShot => {
|
||||
executable.periodic_op(op_code)?;
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_counts[idx] += 1;
|
||||
if cycle_counts[idx] == cycles {
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
ExecutionType::Infinite => {
|
||||
executable.periodic_op(op_code)?;
|
||||
}
|
||||
ExecutionType::Cycles(cycles) => {
|
||||
executable.periodic_op(op_code)?;
|
||||
cycle_counts[idx] += 1;
|
||||
if cycle_counts[idx] == cycles {
|
||||
removal_flags[idx] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
let mut removal_iter = removal_flags.iter();
|
||||
executable_vec.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_iter = removal_flags.iter();
|
||||
cycle_counts.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_flags.retain(|&i| !i);
|
||||
if executable_vec.is_empty() {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
}
|
||||
let mut removal_iter = removal_flags.iter();
|
||||
executable_vec.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_iter = removal_flags.iter();
|
||||
cycle_counts.retain(|_| !*removal_iter.next().unwrap());
|
||||
removal_flags.retain(|&i| !i);
|
||||
if executable_vec.is_empty() {
|
||||
return Ok(OpResult::Ok);
|
||||
}
|
||||
let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
|
||||
thread::sleep(freq);
|
||||
})
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
@ -297,8 +294,7 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||||
@ -323,8 +319,7 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
op_code_inducing_failure,
|
||||
None,
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_err());
|
||||
let error = thread_res.unwrap_err();
|
||||
@ -361,13 +356,11 @@ mod tests {
|
||||
assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
|
||||
}
|
||||
let jhandle = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
let thread_res = jhandle.join().expect("One Shot Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||||
@ -393,8 +386,7 @@ mod tests {
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
let thread_res = jh.join().expect("Cycles Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
let data = shared.lock().expect("Locking Mutex failed");
|
||||
@ -426,13 +418,11 @@ mod tests {
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
vec![one_shot_task, cycled_task_0, cycled_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(100)),
|
||||
expected_op_code,
|
||||
None,
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
let thread_res = jh.join().expect("Cycles Task failed");
|
||||
assert!(thread_res.is_ok());
|
||||
let data = shared.lock().expect("Locking Mutex failed");
|
||||
@ -459,8 +449,7 @@ mod tests {
|
||||
Some(Duration::from_millis(20)),
|
||||
expected_op_code,
|
||||
Some(terminator.add_rx()),
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
thread::sleep(Duration::from_millis(40));
|
||||
terminator.broadcast(());
|
||||
let thread_res = jh.join().expect("Periodic Task failed");
|
||||
@ -496,13 +485,11 @@ mod tests {
|
||||
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||||
vec![cycled_task, periodic_task_0, periodic_task_1];
|
||||
let jh = exec_sched_multi(
|
||||
"multi-task-name",
|
||||
task_vec,
|
||||
Some(Duration::from_millis(20)),
|
||||
expected_op_code,
|
||||
Some(terminator.add_rx()),
|
||||
)
|
||||
.expect("thread creation failed");
|
||||
);
|
||||
thread::sleep(Duration::from_millis(60));
|
||||
terminator.broadcast(());
|
||||
let thread_res = jh.join().expect("Periodic Task failed");
|
||||
@ -20,8 +20,8 @@ use std::vec::Vec;
|
||||
/// ```
|
||||
/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
|
||||
/// use spacepackets::ecss::WritablePusPacket;
|
||||
/// use satrs::hal::std::udp_server::UdpTcServer;
|
||||
/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
/// use satrs_core::hal::std::udp_server::UdpTcServer;
|
||||
/// use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
/// use spacepackets::SpHeader;
|
||||
/// use spacepackets::ecss::tc::PusTcCreator;
|
||||
///
|
||||
16
satrs-core/src/hk.rs
Normal file
16
satrs-core/src/hk.rs
Normal file
@ -0,0 +1,16 @@
|
||||
pub type CollectionIntervalFactor = u32;
|
||||
pub type UniqueId = u32;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum HkRequest {
|
||||
OneShot(UniqueId),
|
||||
Enable(UniqueId),
|
||||
Disable(UniqueId),
|
||||
ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
|
||||
}
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub struct TargetedHkRequest {
|
||||
target: u32,
|
||||
hk_request: HkRequest,
|
||||
}
|
||||
@ -1,9 +1,7 @@
|
||||
//! # sat-rs: A framework to build on-board software for remote systems
|
||||
//! # Core components of the sat-rs framework
|
||||
//!
|
||||
//! You can find more information about the sat-rs framework on the
|
||||
//! [homepage](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
|
||||
//! The [satrs-book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/) contains
|
||||
//! high-level information about this framework.
|
||||
//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
|
||||
//!
|
||||
//! ## Overview
|
||||
//!
|
||||
@ -34,25 +32,19 @@ pub mod events;
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod executable;
|
||||
pub mod hal;
|
||||
pub mod hk;
|
||||
pub mod mode;
|
||||
pub mod objects;
|
||||
pub mod params;
|
||||
pub mod pool;
|
||||
pub mod power;
|
||||
pub mod pus;
|
||||
pub mod queue;
|
||||
pub mod request;
|
||||
pub mod res_code;
|
||||
pub mod seq_count;
|
||||
pub mod tmtc;
|
||||
|
||||
pub mod action;
|
||||
pub mod hk;
|
||||
pub mod mode;
|
||||
pub mod params;
|
||||
|
||||
pub use spacepackets;
|
||||
|
||||
/// Generic channel ID type.
|
||||
// Generic channel ID type.
|
||||
pub type ChannelId = u32;
|
||||
|
||||
/// Generic target ID type.
|
||||
pub type TargetId = u64;
|
||||
@ -1,10 +1,9 @@
|
||||
use crate::tmtc::TargetId;
|
||||
use core::mem::size_of;
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
use crate::TargetId;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ModeAndSubmode {
|
||||
@ -48,12 +47,12 @@ impl ModeAndSubmode {
|
||||
}
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct TargetedModeCommand {
|
||||
pub struct ModeCommand {
|
||||
pub address: TargetId,
|
||||
pub mode_submode: ModeAndSubmode,
|
||||
}
|
||||
|
||||
impl TargetedModeCommand {
|
||||
impl ModeCommand {
|
||||
pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
|
||||
Self {
|
||||
address,
|
||||
@ -10,7 +10,7 @@
|
||||
//! ```rust
|
||||
//! use std::any::Any;
|
||||
//! use std::error::Error;
|
||||
//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
|
||||
//! use satrs_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
|
||||
//!
|
||||
//! struct ExampleSysObj {
|
||||
//! id: ObjectId,
|
||||
@ -51,6 +51,7 @@
|
||||
//! assert_eq!(example_obj.id, obj_id);
|
||||
//! assert_eq!(example_obj.dummy, 42);
|
||||
//! ```
|
||||
use crate::tmtc::TargetId;
|
||||
#[cfg(feature = "alloc")]
|
||||
use alloc::boxed::Box;
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -62,8 +63,6 @@ use hashbrown::HashMap;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
use crate::TargetId;
|
||||
|
||||
#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
|
||||
pub struct ObjectId {
|
||||
pub id: TargetId,
|
||||
@ -13,7 +13,7 @@
|
||||
//! ## Example for primitive type wrapper
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
|
||||
//! use satrs_core::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
|
||||
//!
|
||||
//! let u32_pair = U32Pair(0x1010, 25);
|
||||
//! assert_eq!(u32_pair.0, 0x1010);
|
||||
@ -1,21 +1,13 @@
|
||||
//! # Pool implementation providing memory pools for packet storage.
|
||||
//!
|
||||
//! This module provides generic abstractions for memory pools which provide a storage
|
||||
//! machanism for variable sized data like Telemetry and Telecommand (TMTC) packets. The core
|
||||
//! abstraction for this is the [PoolProvider] trait.
|
||||
//!
|
||||
//! It also contains the [StaticMemoryPool] as a concrete implementation which can be used to avoid
|
||||
//! dynamic run-time allocations for the storage of TMTC packets.
|
||||
//!
|
||||
//! # Example for the [StaticMemoryPool]
|
||||
//!
|
||||
//! ```
|
||||
//! use satrs::pool::{PoolProvider, StaticMemoryPool, StaticPoolConfig};
|
||||
//! use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
|
||||
//!
|
||||
//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
|
||||
//! let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
//! let mut read_buf: [u8; 16] = [0; 16];
|
||||
//! let mut addr;
|
||||
//! {
|
||||
//! // Add new data to the pool
|
||||
@ -28,25 +20,25 @@
|
||||
//!
|
||||
//! {
|
||||
//! // Read the store data back
|
||||
//! let res = local_pool.read(&addr, &mut read_buf);
|
||||
//! let res = local_pool.read(&addr);
|
||||
//! assert!(res.is_ok());
|
||||
//! let read_bytes = res.unwrap();
|
||||
//! assert_eq!(read_bytes, 4);
|
||||
//! assert_eq!(read_buf[0], 42);
|
||||
//! let buf_read_back = res.unwrap();
|
||||
//! assert_eq!(buf_read_back.len(), 4);
|
||||
//! assert_eq!(buf_read_back[0], 42);
|
||||
//! // Modify the stored data
|
||||
//! let res = local_pool.modify(&addr, |buf| {
|
||||
//! buf[0] = 12;
|
||||
//! });
|
||||
//! let res = local_pool.modify(&addr);
|
||||
//! assert!(res.is_ok());
|
||||
//! let buf_read_back = res.unwrap();
|
||||
//! buf_read_back[0] = 12;
|
||||
//! }
|
||||
//!
|
||||
//! {
|
||||
//! // Read the modified data back
|
||||
//! let res = local_pool.read(&addr, &mut read_buf);
|
||||
//! let res = local_pool.read(&addr);
|
||||
//! assert!(res.is_ok());
|
||||
//! let read_bytes = res.unwrap();
|
||||
//! assert_eq!(read_bytes, 4);
|
||||
//! assert_eq!(read_buf[0], 12);
|
||||
//! let buf_read_back = res.unwrap();
|
||||
//! assert_eq!(buf_read_back.len(), 4);
|
||||
//! assert_eq!(buf_read_back[0], 12);
|
||||
//! }
|
||||
//!
|
||||
//! // Delete the stored data
|
||||
@ -54,21 +46,21 @@
|
||||
//!
|
||||
//! // Get a free element in the pool with an appropriate size
|
||||
//! {
|
||||
//! let res = local_pool.free_element(12, |buf| {
|
||||
//! buf[0] = 7;
|
||||
//! });
|
||||
//! let res = local_pool.free_element(12);
|
||||
//! assert!(res.is_ok());
|
||||
//! addr = res.unwrap();
|
||||
//! let (tmp, mut_buf) = res.unwrap();
|
||||
//! addr = tmp;
|
||||
//! mut_buf[0] = 7;
|
||||
//! }
|
||||
//!
|
||||
//! // Read back the data
|
||||
//! {
|
||||
//! // Read the store data back
|
||||
//! let res = local_pool.read(&addr, &mut read_buf);
|
||||
//! let res = local_pool.read(&addr);
|
||||
//! assert!(res.is_ok());
|
||||
//! let read_bytes = res.unwrap();
|
||||
//! assert_eq!(read_bytes, 12);
|
||||
//! assert_eq!(read_buf[0], 7);
|
||||
//! let buf_read_back = res.unwrap();
|
||||
//! assert_eq!(buf_read_back.len(), 12);
|
||||
//! assert_eq!(buf_read_back[0], 7);
|
||||
//! }
|
||||
//! ```
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -78,7 +70,6 @@ use core::fmt::{Display, Formatter};
|
||||
use delegate::delegate;
|
||||
#[cfg(feature = "serde")]
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ByteConversionError;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
@ -160,8 +151,6 @@ pub enum StoreError {
|
||||
InvalidStoreId(StoreIdError, Option<StoreAddr>),
|
||||
/// Valid subpool and packet index, but no data is stored at the given address
|
||||
DataDoesNotExist(StoreAddr),
|
||||
ByteConversionError(spacepackets::ByteConversionError),
|
||||
LockError,
|
||||
/// Internal or configuration errors
|
||||
InternalError(u32),
|
||||
}
|
||||
@ -184,22 +173,10 @@ impl Display for StoreError {
|
||||
StoreError::InternalError(e) => {
|
||||
write!(f, "internal error: {e}")
|
||||
}
|
||||
StoreError::ByteConversionError(e) => {
|
||||
write!(f, "store error: {e}")
|
||||
}
|
||||
StoreError::LockError => {
|
||||
write!(f, "lock error")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for StoreError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversionError(value)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for StoreError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
@ -210,61 +187,41 @@ impl Error for StoreError {
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic trait for pool providers which provide memory pools for variable sized data.
|
||||
///
|
||||
/// It specifies a basic API to [Self::add], [Self::modify], [Self::read] and [Self::delete] data
|
||||
/// in the store at its core. The API was designed so internal optimizations can be performed
|
||||
/// more easily and that is is also possible to make the pool structure [Sync] without the whole
|
||||
/// pool structure being wrapped inside a lock.
|
||||
pub trait PoolProvider {
|
||||
/// Generic trait for pool providers where the data can be modified and read in-place. This
|
||||
/// generally means that a shared pool structure has to be wrapped inside a lock structure.
|
||||
pub trait PoolProviderMemInPlace {
|
||||
/// Add new data to the pool. The provider should attempt to reserve a memory block with the
|
||||
/// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
|
||||
/// be used to access the data stored in the pool
|
||||
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
|
||||
|
||||
/// The provider should attempt to reserve a free memory block with the appropriate size first.
|
||||
/// It then executes a user-provided closure and passes a mutable reference to that memory
|
||||
/// block to the closure. This allows the user to write data to the memory block.
|
||||
/// The function should yield a [StoreAddr] which can be used to access the data stored in the
|
||||
/// pool.
|
||||
fn free_element<W: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
len: usize,
|
||||
writer: W,
|
||||
) -> Result<StoreAddr, StoreError>;
|
||||
/// The provider should attempt to reserve a free memory block with the appropriate size and
|
||||
/// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
|
||||
/// the data stored in the pool
|
||||
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
|
||||
|
||||
/// Modify data added previously using a given [StoreAddr]. The provider should use the store
|
||||
/// address to determine if a memory block exists for that address. If it does, it should
|
||||
/// call the user-provided closure and pass a mutable reference to the memory block
|
||||
/// to the closure. This allows the user to modify the memory block.
|
||||
fn modify<U: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
addr: &StoreAddr,
|
||||
updater: U,
|
||||
) -> Result<(), StoreError>;
|
||||
/// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
|
||||
/// to it
|
||||
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
|
||||
|
||||
/// The provider should copy the data from the memory block to the user-provided buffer if
|
||||
/// it exists.
|
||||
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError>;
|
||||
/// Read data by yielding a read-only reference given a [StoreAddr]
|
||||
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
|
||||
|
||||
/// Delete data inside the pool given a [StoreAddr].
|
||||
/// Delete data inside the pool given a [StoreAddr]
|
||||
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
|
||||
fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
|
||||
|
||||
/// Retrieve the length of the data at the given store address.
|
||||
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError>;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
fn read_as_vec(&self, addr: &StoreAddr) -> Result<alloc::vec::Vec<u8>, StoreError> {
|
||||
let mut vec = alloc::vec![0; self.len_of_data(addr)?];
|
||||
self.read(addr, &mut vec)?;
|
||||
Ok(vec)
|
||||
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
|
||||
if !self.has_element_at(addr)? {
|
||||
return Err(StoreError::DataDoesNotExist(*addr));
|
||||
}
|
||||
Ok(self.read(addr)?.len())
|
||||
}
|
||||
}
|
||||
|
||||
/// Extension trait which adds guarded pool access classes.
|
||||
pub trait PoolProviderWithGuards: PoolProvider {
|
||||
/// This function behaves like [PoolProvider::read], but consumes the provided address
|
||||
pub trait PoolProviderMemInPlaceWithGuards: PoolProviderMemInPlace {
|
||||
/// This function behaves like [PoolProviderMemInPlace::read], but consumes the provided address
|
||||
/// and returns a RAII conformant guard object.
|
||||
///
|
||||
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
|
||||
@ -274,7 +231,7 @@ pub trait PoolProviderWithGuards: PoolProvider {
|
||||
/// manual deletion is necessary when returning from a processing function prematurely.
|
||||
fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
|
||||
|
||||
/// This function behaves like [PoolProvider::modify], but consumes the provided
|
||||
/// This function behaves like [PoolProviderMemInPlace::modify], but consumes the provided
|
||||
/// address and returns a RAII conformant guard object.
|
||||
///
|
||||
/// Unless the guard [PoolRwGuard::release] method is called, the data for the
|
||||
@ -285,16 +242,15 @@ pub trait PoolProviderWithGuards: PoolProvider {
|
||||
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
|
||||
}
|
||||
|
||||
pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
|
||||
pub struct PoolGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
|
||||
pool: &'a mut MemProvider,
|
||||
pub addr: StoreAddr,
|
||||
no_deletion: bool,
|
||||
deletion_failed_error: Option<StoreError>,
|
||||
}
|
||||
|
||||
/// This helper object can be used to safely access pool data without worrying about memory
|
||||
/// leaks.
|
||||
impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
|
||||
/// This helper object
|
||||
impl<'a, MemProvider: PoolProviderMemInPlace> PoolGuard<'a, MemProvider> {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
|
||||
Self {
|
||||
pool,
|
||||
@ -304,13 +260,8 @@ impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
|
||||
}
|
||||
}
|
||||
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError> {
|
||||
self.pool.read(&self.addr, buf)
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub fn read_as_vec(&self) -> Result<alloc::vec::Vec<u8>, StoreError> {
|
||||
self.pool.read_as_vec(&self.addr)
|
||||
pub fn read(&self) -> Result<&[u8], StoreError> {
|
||||
self.pool.read(&self.addr)
|
||||
}
|
||||
|
||||
/// Releasing the pool guard will disable the automatic deletion of the data when the guard
|
||||
@ -320,7 +271,7 @@ impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<MemProvider: PoolProvider + ?Sized> Drop for PoolGuard<'_, MemProvider> {
|
||||
impl<MemProvider: PoolProviderMemInPlace + ?Sized> Drop for PoolGuard<'_, MemProvider> {
|
||||
fn drop(&mut self) {
|
||||
if !self.no_deletion {
|
||||
if let Err(e) = self.pool.delete(self.addr) {
|
||||
@ -330,24 +281,24 @@ impl<MemProvider: PoolProvider + ?Sized> Drop for PoolGuard<'_, MemProvider> {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PoolRwGuard<'a, MemProvider: PoolProvider + ?Sized> {
|
||||
pub struct PoolRwGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
|
||||
guard: PoolGuard<'a, MemProvider>,
|
||||
}
|
||||
|
||||
impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
|
||||
impl<'a, MemProvider: PoolProviderMemInPlace> PoolRwGuard<'a, MemProvider> {
|
||||
pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
|
||||
Self {
|
||||
guard: PoolGuard::new(pool, addr),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update<U: FnMut(&mut [u8])>(&mut self, updater: &mut U) -> Result<(), StoreError> {
|
||||
self.guard.pool.modify(&self.guard.addr, updater)
|
||||
pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
|
||||
self.guard.pool.modify(&self.guard.addr)
|
||||
}
|
||||
|
||||
delegate!(
|
||||
to self.guard {
|
||||
pub fn read(&self, buf: &mut [u8]) -> Result<usize, StoreError>;
|
||||
pub fn read(&self) -> Result<&[u8], StoreError>;
|
||||
/// Releasing the pool guard will disable the automatic deletion of the data when the guard
|
||||
/// is dropped.
|
||||
pub fn release(&mut self);
|
||||
@ -357,11 +308,13 @@ impl<'a, MemProvider: PoolProvider> PoolRwGuard<'a, MemProvider> {
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::{PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticPoolAddr};
|
||||
use super::{
|
||||
PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
|
||||
StaticPoolAddr,
|
||||
};
|
||||
use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use spacepackets::ByteConversionError;
|
||||
#[cfg(feature = "std")]
|
||||
use std::sync::{Arc, RwLock};
|
||||
|
||||
@ -376,24 +329,16 @@ mod alloc_mod {
|
||||
///
|
||||
/// # Parameters
|
||||
///
|
||||
/// * `cfg` - Vector of tuples which represent a subpool. The first entry in the tuple specifies
|
||||
/// the number of memory blocks in the subpool, the second entry the size of the blocks
|
||||
/// * `spill_to_higher_subpools` - Specifies whether data will be spilled to higher subpools
|
||||
/// if the next fitting subpool is full. This is useful to ensure the pool remains useful
|
||||
/// for all data sizes as long as possible. However, an undesirable side-effect might be
|
||||
/// the chocking of larger subpools by underdimensioned smaller subpools.
|
||||
/// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
|
||||
/// number of memory blocks in the subpool, the second entry the size of the blocks
|
||||
#[derive(Clone)]
|
||||
pub struct StaticPoolConfig {
|
||||
cfg: Vec<(NumBlocks, usize)>,
|
||||
spill_to_higher_subpools: bool,
|
||||
}
|
||||
|
||||
impl StaticPoolConfig {
|
||||
pub fn new(cfg: Vec<(NumBlocks, usize)>, spill_to_higher_subpools: bool) -> Self {
|
||||
StaticPoolConfig {
|
||||
cfg,
|
||||
spill_to_higher_subpools,
|
||||
}
|
||||
pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
|
||||
StaticPoolConfig { cfg }
|
||||
}
|
||||
|
||||
pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
|
||||
@ -411,21 +356,16 @@ mod alloc_mod {
|
||||
|
||||
/// Pool implementation providing sub-pools with fixed size memory blocks.
|
||||
///
|
||||
/// This is a simple memory pool implementation which pre-allocates all subpools using a given
|
||||
/// pool configuration. After the pre-allocation, no dynamic memory allocation will be
|
||||
/// performed during run-time. This makes the implementation suitable for real-time
|
||||
/// applications and embedded environments.
|
||||
///
|
||||
/// The subpool bucket sizes only denote the maximum possible data size being stored inside
|
||||
/// them and the pool implementation will still track the size of the data stored inside it.
|
||||
/// The implementation will generally determine the best fitting subpool for given data to
|
||||
/// add. Currently, the pool does not support spilling to larger subpools if the closest
|
||||
/// fitting subpool is full. This might be added in the future.
|
||||
/// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
|
||||
/// configuration. After the pre-allocation, no dynamic memory allocation will be performed
|
||||
/// during run-time. This makes the implementation suitable for real-time applications and
|
||||
/// embedded environments. The pool implementation will also track the size of the data stored
|
||||
/// inside it.
|
||||
///
|
||||
/// Transactions with the [pool][StaticMemoryPool] are done using a generic
|
||||
/// [address][StoreAddr] type. Adding any data to the pool will yield a store address.
|
||||
/// Modification and read operations are done using a reference to a store address. Deletion
|
||||
/// will consume the store address.
|
||||
/// [address][StoreAddr] type.
|
||||
/// Adding any data to the pool will yield a store address. Modification and read operations are
|
||||
/// done using a reference to a store address. Deletion will consume the store address.
|
||||
pub struct StaticMemoryPool {
|
||||
pool_cfg: StaticPoolConfig,
|
||||
pool: Vec<Vec<u8>>,
|
||||
@ -482,17 +422,7 @@ mod alloc_mod {
|
||||
}
|
||||
|
||||
fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
|
||||
let mut subpool_idx = self.find_subpool(data_len, 0)?;
|
||||
|
||||
if self.pool_cfg.spill_to_higher_subpools {
|
||||
while let Err(StoreError::StoreFull(_)) = self.find_empty(subpool_idx) {
|
||||
if (subpool_idx + 1) as usize == self.sizes_lists.len() {
|
||||
return Err(StoreError::StoreFull(subpool_idx));
|
||||
}
|
||||
subpool_idx += 1;
|
||||
}
|
||||
}
|
||||
|
||||
let subpool_idx = self.find_subpool(data_len, 0)?;
|
||||
let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
|
||||
*size_slot_ref = data_len;
|
||||
Ok(StaticPoolAddr {
|
||||
@ -546,7 +476,7 @@ mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl PoolProvider for StaticMemoryPool {
|
||||
impl PoolProviderMemInPlace for StaticMemoryPool {
|
||||
fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
|
||||
let data_len = data.len();
|
||||
if data_len > POOL_MAX_SIZE {
|
||||
@ -557,11 +487,7 @@ mod alloc_mod {
|
||||
Ok(addr.into())
|
||||
}
|
||||
|
||||
fn free_element<W: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
len: usize,
|
||||
mut writer: W,
|
||||
) -> Result<StoreAddr, StoreError> {
|
||||
fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
|
||||
if len > POOL_MAX_SIZE {
|
||||
return Err(StoreError::DataTooLarge(len));
|
||||
}
|
||||
@ -569,40 +495,25 @@ mod alloc_mod {
|
||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
||||
let block =
|
||||
&mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
|
||||
writer(block);
|
||||
Ok(addr.into())
|
||||
Ok((addr.into(), block))
|
||||
}
|
||||
|
||||
fn modify<U: FnMut(&mut [u8])>(
|
||||
&mut self,
|
||||
addr: &StoreAddr,
|
||||
mut updater: U,
|
||||
) -> Result<(), StoreError> {
|
||||
fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
let curr_size = self.addr_check(&addr)?;
|
||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
||||
let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
|
||||
[raw_pos..raw_pos + curr_size];
|
||||
updater(block);
|
||||
Ok(())
|
||||
Ok(block)
|
||||
}
|
||||
|
||||
fn read(&self, addr: &StoreAddr, buf: &mut [u8]) -> Result<usize, StoreError> {
|
||||
fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
let curr_size = self.addr_check(&addr)?;
|
||||
if buf.len() < curr_size {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
found: buf.len(),
|
||||
expected: curr_size,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let raw_pos = self.raw_pos(&addr).unwrap();
|
||||
let block =
|
||||
&self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
|
||||
//block.copy_from_slice(&src);
|
||||
buf[..curr_size].copy_from_slice(block);
|
||||
Ok(curr_size)
|
||||
Ok(block)
|
||||
}
|
||||
|
||||
fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
|
||||
@ -629,21 +540,9 @@ mod alloc_mod {
|
||||
}
|
||||
Ok(true)
|
||||
}
|
||||
|
||||
fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
|
||||
let addr = StaticPoolAddr::from(*addr);
|
||||
self.validate_addr(&addr)?;
|
||||
let pool_idx = addr.pool_idx as usize;
|
||||
let size_list = self.sizes_lists.get(pool_idx).unwrap();
|
||||
let size = size_list[addr.packet_idx as usize];
|
||||
Ok(match size {
|
||||
STORE_FREE => 0,
|
||||
_ => size,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl PoolProviderWithGuards for StaticMemoryPool {
|
||||
impl PoolProviderMemInPlaceWithGuards for StaticMemoryPool {
|
||||
fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
|
||||
PoolRwGuard::new(self, addr)
|
||||
}
|
||||
@ -657,29 +556,30 @@ mod alloc_mod {
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use crate::pool::{
|
||||
PoolGuard, PoolProvider, PoolProviderWithGuards, PoolRwGuard, StaticMemoryPool,
|
||||
StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError, POOL_MAX_SIZE,
|
||||
PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
|
||||
StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError,
|
||||
POOL_MAX_SIZE,
|
||||
};
|
||||
use std::vec;
|
||||
|
||||
fn basic_small_pool() -> StaticMemoryPool {
|
||||
// 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
|
||||
StaticMemoryPool::new(pool_cfg)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_cfg() {
|
||||
// Values where number of buckets is 0 or size is too large should be removed
|
||||
let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)], false);
|
||||
let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
|
||||
pool_cfg.sanitize();
|
||||
assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
|
||||
// Entries should be ordered according to bucket size
|
||||
pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
|
||||
pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
|
||||
pool_cfg.sanitize();
|
||||
assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
|
||||
// Unstable sort is used, so order of entries with same block length should not matter
|
||||
pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)], false);
|
||||
pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
|
||||
pool_cfg.sanitize();
|
||||
assert!(
|
||||
*pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
|
||||
@ -694,14 +594,13 @@ mod tests {
|
||||
for (i, val) in test_buf.iter_mut().enumerate() {
|
||||
*val = i as u8;
|
||||
}
|
||||
let mut other_buf: [u8; 16] = [0; 16];
|
||||
let addr = local_pool.add(&test_buf).expect("Adding data failed");
|
||||
// Read back data and verify correctness
|
||||
let res = local_pool.read(&addr, &mut other_buf);
|
||||
let res = local_pool.read(&addr);
|
||||
assert!(res.is_ok());
|
||||
let read_len = res.unwrap();
|
||||
assert_eq!(read_len, 16);
|
||||
for (i, &val) in other_buf.iter().enumerate() {
|
||||
let buf_read_back = res.unwrap();
|
||||
assert_eq!(buf_read_back.len(), 16);
|
||||
for (i, &val) in buf_read_back.iter().enumerate() {
|
||||
assert_eq!(val, i as u8);
|
||||
}
|
||||
}
|
||||
@ -711,10 +610,8 @@ mod tests {
|
||||
let mut local_pool = basic_small_pool();
|
||||
let test_buf: [u8; 12] = [0; 12];
|
||||
let addr = local_pool.add(&test_buf).expect("Adding data failed");
|
||||
let res = local_pool
|
||||
.read(&addr, &mut [0; 12])
|
||||
.expect("Read back failed");
|
||||
assert_eq!(res, 12);
|
||||
let res = local_pool.read(&addr).expect("Read back failed");
|
||||
assert_eq!(res.len(), 12);
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -725,13 +622,10 @@ mod tests {
|
||||
// Delete the data
|
||||
let res = local_pool.delete(addr);
|
||||
assert!(res.is_ok());
|
||||
let mut writer = |buf: &mut [u8]| {
|
||||
assert_eq!(buf.len(), 12);
|
||||
};
|
||||
// Verify that the slot is free by trying to get a reference to it
|
||||
let res = local_pool.free_element(12, &mut writer);
|
||||
let res = local_pool.free_element(12);
|
||||
assert!(res.is_ok());
|
||||
let addr = res.unwrap();
|
||||
let (addr, buf_ref) = res.unwrap();
|
||||
assert_eq!(
|
||||
addr,
|
||||
u64::from(StaticPoolAddr {
|
||||
@ -739,6 +633,7 @@ mod tests {
|
||||
packet_idx: 0
|
||||
})
|
||||
);
|
||||
assert_eq!(buf_ref.len(), 12);
|
||||
}
|
||||
|
||||
#[test]
|
||||
@ -752,34 +647,29 @@ mod tests {
|
||||
|
||||
{
|
||||
// Verify that the slot is free by trying to get a reference to it
|
||||
local_pool
|
||||
.modify(&addr, &mut |buf: &mut [u8]| {
|
||||
buf[0] = 0;
|
||||
buf[1] = 0x42;
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
let res = local_pool.modify(&addr).expect("Modifying data failed");
|
||||
res[0] = 0;
|
||||
res[1] = 0x42;
|
||||
}
|
||||
|
||||
local_pool
|
||||
.read(&addr, &mut test_buf)
|
||||
.expect("Reading back data failed");
|
||||
assert_eq!(test_buf[0], 0);
|
||||
assert_eq!(test_buf[1], 0x42);
|
||||
assert_eq!(test_buf[2], 2);
|
||||
assert_eq!(test_buf[3], 3);
|
||||
let res = local_pool.read(&addr).expect("Reading back data failed");
|
||||
assert_eq!(res[0], 0);
|
||||
assert_eq!(res[1], 0x42);
|
||||
assert_eq!(res[2], 2);
|
||||
assert_eq!(res[3], 3);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_consecutive_reservation() {
|
||||
let mut local_pool = basic_small_pool();
|
||||
// Reserve two smaller blocks consecutively and verify that the third reservation fails
|
||||
let res = local_pool.free_element(8, |_| {});
|
||||
let res = local_pool.free_element(8);
|
||||
assert!(res.is_ok());
|
||||
let addr0 = res.unwrap();
|
||||
let res = local_pool.free_element(8, |_| {});
|
||||
let (addr0, _) = res.unwrap();
|
||||
let res = local_pool.free_element(8);
|
||||
assert!(res.is_ok());
|
||||
let addr1 = res.unwrap();
|
||||
let res = local_pool.free_element(8, |_| {});
|
||||
let (addr1, _) = res.unwrap();
|
||||
let res = local_pool.free_element(8);
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert_eq!(err, StoreError::StoreFull(1));
|
||||
@ -799,7 +689,6 @@ mod tests {
|
||||
pool_idx: 0,
|
||||
}
|
||||
.into(),
|
||||
&mut [],
|
||||
);
|
||||
assert!(res.is_err());
|
||||
assert!(matches!(
|
||||
@ -831,7 +720,7 @@ mod tests {
|
||||
packet_idx: 0,
|
||||
}
|
||||
.into();
|
||||
let res = local_pool.read(&addr, &mut []);
|
||||
let res = local_pool.read(&addr);
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
@ -848,7 +737,7 @@ mod tests {
|
||||
packet_idx: 1,
|
||||
};
|
||||
assert_eq!(addr.raw(), 0x00020001);
|
||||
let res = local_pool.read(&addr.into(), &mut []);
|
||||
let res = local_pool.read(&addr.into());
|
||||
assert!(res.is_err());
|
||||
let err = res.unwrap_err();
|
||||
assert!(matches!(
|
||||
@ -870,7 +759,7 @@ mod tests {
|
||||
#[test]
|
||||
fn test_data_too_large_1() {
|
||||
let mut local_pool = basic_small_pool();
|
||||
let res = local_pool.free_element(POOL_MAX_SIZE + 1, |_| {});
|
||||
let res = local_pool.free_element(POOL_MAX_SIZE + 1);
|
||||
assert!(res.is_err());
|
||||
assert_eq!(
|
||||
res.unwrap_err(),
|
||||
@ -882,7 +771,7 @@ mod tests {
|
||||
fn test_free_element_too_large() {
|
||||
let mut local_pool = basic_small_pool();
|
||||
// Try to request a slot which is too large
|
||||
let res = local_pool.free_element(20, |_| {});
|
||||
let res = local_pool.free_element(20);
|
||||
assert!(res.is_err());
|
||||
assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
|
||||
}
|
||||
@ -924,7 +813,7 @@ mod tests {
|
||||
let test_buf: [u8; 16] = [0; 16];
|
||||
let addr = local_pool.add(&test_buf).expect("Adding data failed");
|
||||
let mut rw_guard = PoolRwGuard::new(&mut local_pool, addr);
|
||||
rw_guard.update(&mut |_| {}).expect("modify failed");
|
||||
let _ = rw_guard.modify().expect("modify failed");
|
||||
drop(rw_guard);
|
||||
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
|
||||
}
|
||||
@ -935,7 +824,7 @@ mod tests {
|
||||
let test_buf: [u8; 16] = [0; 16];
|
||||
let addr = local_pool.add(&test_buf).expect("Adding data failed");
|
||||
let mut rw_guard = local_pool.modify_with_guard(addr);
|
||||
rw_guard.update(&mut |_| {}).expect("modify failed");
|
||||
let _ = rw_guard.modify().expect("modify failed");
|
||||
drop(rw_guard);
|
||||
assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
|
||||
}
|
||||
@ -951,93 +840,13 @@ mod tests {
|
||||
let addr1 = local_pool.add(&test_buf_1).expect("Adding data failed");
|
||||
let addr2 = local_pool.add(&test_buf_2).expect("Adding data failed");
|
||||
let addr3 = local_pool.add(&test_buf_3).expect("Adding data failed");
|
||||
local_pool
|
||||
.modify(&addr0, |buf| {
|
||||
assert_eq!(buf, test_buf_0);
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
local_pool
|
||||
.modify(&addr1, |buf| {
|
||||
assert_eq!(buf, test_buf_1);
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
local_pool
|
||||
.modify(&addr2, |buf| {
|
||||
assert_eq!(buf, test_buf_2);
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
local_pool
|
||||
.modify(&addr3, |buf| {
|
||||
assert_eq!(buf, test_buf_3);
|
||||
})
|
||||
.expect("Modifying data failed");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spills_to_higher_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(2, 8), (2, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
let mut in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 1);
|
||||
assert_eq!(pool_addr.packet_idx, 0);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 1);
|
||||
assert_eq!(pool_addr.packet_idx, 1);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_fails_as_well() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
let should_fail = local_pool.free_element(8, |_| {});
|
||||
assert!(should_fail.is_err());
|
||||
if let Err(err) = should_fail {
|
||||
assert_eq!(err, StoreError::StoreFull(1));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_works_across_multiple_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(12, |_| {}).unwrap();
|
||||
let in_larger_subpool_now = local_pool.free_element(8, |_| {});
|
||||
assert!(in_larger_subpool_now.is_ok());
|
||||
let generic_addr = in_larger_subpool_now.unwrap();
|
||||
let pool_addr = StaticPoolAddr::from(generic_addr);
|
||||
assert_eq!(pool_addr.pool_idx, 2);
|
||||
assert_eq!(pool_addr.packet_idx, 0);
|
||||
assert!(local_pool.has_element_at(&generic_addr).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_spillage_fails_across_multiple_subpools() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
|
||||
let mut local_pool = StaticMemoryPool::new(pool_cfg);
|
||||
local_pool.free_element(8, |_| {}).unwrap();
|
||||
local_pool.free_element(12, |_| {}).unwrap();
|
||||
local_pool.free_element(16, |_| {}).unwrap();
|
||||
let should_fail = local_pool.free_element(8, |_| {});
|
||||
assert!(should_fail.is_err());
|
||||
if let Err(err) = should_fail {
|
||||
assert_eq!(err, StoreError::StoreFull(2));
|
||||
} else {
|
||||
panic!("unexpected store address");
|
||||
}
|
||||
let tm0_raw = local_pool.modify(&addr0).expect("Modifying data failed");
|
||||
assert_eq!(tm0_raw, test_buf_0);
|
||||
let tm1_raw = local_pool.modify(&addr1).expect("Modifying data failed");
|
||||
assert_eq!(tm1_raw, test_buf_1);
|
||||
let tm2_raw = local_pool.modify(&addr2).expect("Modifying data failed");
|
||||
assert_eq!(tm2_raw, test_buf_2);
|
||||
let tm3_raw = local_pool.modify(&addr3).expect("Modifying data failed");
|
||||
assert_eq!(tm3_raw, test_buf_3);
|
||||
}
|
||||
}
|
||||
@ -6,24 +6,16 @@ use spacepackets::ecss::event::Subservice;
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
|
||||
pub struct PusService5EventHandler<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
|
||||
pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusService5EventHandler<TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
|
||||
pub fn new(
|
||||
service_handler: PusServiceHelper<TcInMemConverter, VerificationReporter>,
|
||||
service_handler: PusServiceHelper<TcInMemConverter>,
|
||||
event_request_tx: Sender<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -52,10 +44,9 @@ impl<
|
||||
}
|
||||
let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 4,
|
||||
found: tc.user_data().len(),
|
||||
});
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"at least 4 bytes event ID expected".into(),
|
||||
));
|
||||
}
|
||||
let user_data = tc.user_data();
|
||||
let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
|
||||
@ -63,7 +54,8 @@ impl<
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &stamp)
|
||||
.borrow_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&stamp))
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let partial_error = start_token.clone().err();
|
||||
let mut token: TcStateToken = ecss_tc_and_token.token.into();
|
||||
@ -94,9 +86,7 @@ impl<
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
};
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
|
||||
&mut partial_error,
|
||||
);
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match srv.unwrap() {
|
||||
Subservice::TmInfoReport
|
||||
| Subservice::TmLowSeverityReport
|
||||
@ -138,7 +128,7 @@ mod tests {
|
||||
|
||||
use crate::pus::event_man::EventRequest;
|
||||
use crate::pus::tests::SimplePusPacketHandler;
|
||||
use crate::pus::verification::{RequestId, VerificationReporterWithSender};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::{
|
||||
events::EventU32,
|
||||
pus::{
|
||||
@ -155,8 +145,7 @@ mod tests {
|
||||
|
||||
struct Pus5HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler:
|
||||
PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
|
||||
handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
|
||||
}
|
||||
|
||||
impl Pus5HandlerWithStoreTester {
|
||||
@ -282,9 +271,8 @@ mod tests {
|
||||
let result = test_harness.handle_one_tc();
|
||||
assert!(result.is_err());
|
||||
let result = result.unwrap_err();
|
||||
if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
|
||||
assert_eq!(expected, 4);
|
||||
assert_eq!(found, 3);
|
||||
if let PusPacketHandlingError::NotEnoughAppData(string) = result {
|
||||
assert_eq!(string, "at least 4 bytes event ID expected");
|
||||
} else {
|
||||
panic!("unexpected result type {result:?}")
|
||||
}
|
||||
1
satrs-core/src/pus/hk.rs
Normal file
1
satrs-core/src/pus/hk.rs
Normal file
@ -0,0 +1 @@
|
||||
pub use spacepackets::ecss::hk::*;
|
||||
@ -2,7 +2,6 @@
|
||||
//!
|
||||
//! This module contains structures to make working with the PUS C standard easier.
|
||||
//! The satrs-example application contains various usage examples of these components.
|
||||
use crate::queue::{GenericRecvError, GenericSendError};
|
||||
use crate::ChannelId;
|
||||
use core::fmt::{Display, Formatter};
|
||||
#[cfg(feature = "alloc")]
|
||||
@ -17,7 +16,6 @@ use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::{ByteConversionError, SpHeader};
|
||||
|
||||
pub mod action;
|
||||
pub mod event;
|
||||
pub mod event_man;
|
||||
#[cfg(feature = "std")]
|
||||
@ -57,6 +55,52 @@ impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
|
||||
}
|
||||
}
|
||||
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericSendError {
|
||||
RxDisconnected,
|
||||
QueueFull(Option<u32>),
|
||||
}
|
||||
|
||||
impl Display for GenericSendError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
GenericSendError::RxDisconnected => {
|
||||
write!(f, "rx side has disconnected")
|
||||
}
|
||||
GenericSendError::QueueFull(max_cap) => {
|
||||
write!(f, "queue with max capacity of {max_cap:?} is full")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericSendError {}
|
||||
|
||||
/// Generic error type for sending something via a message queue.
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum GenericRecvError {
|
||||
Empty,
|
||||
TxDisconnected,
|
||||
}
|
||||
|
||||
impl Display for GenericRecvError {
|
||||
fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
|
||||
match self {
|
||||
Self::TxDisconnected => {
|
||||
write!(f, "tx side has disconnected")
|
||||
}
|
||||
Self::Empty => {
|
||||
write!(f, "nothing to receive")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for GenericRecvError {}
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub enum EcssTmtcError {
|
||||
StoreLock,
|
||||
@ -260,12 +304,8 @@ pub trait ReceivesEcssPusTc {
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use crate::TargetId;
|
||||
|
||||
use super::*;
|
||||
|
||||
use crate::pus::verification::VerificationReportingProvider;
|
||||
|
||||
/// Extension trait for [EcssTmSenderCore].
|
||||
///
|
||||
/// It provides additional functionality, for example by implementing the [Downcast] trait
|
||||
@ -278,31 +318,10 @@ mod alloc_mod {
|
||||
/// [Clone].
|
||||
#[cfg(feature = "alloc")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
|
||||
pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn EcssTmSenderCore;
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore;
|
||||
}
|
||||
pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {}
|
||||
|
||||
/// Blanket implementation for all types which implement [EcssTmSenderCore] and are clonable.
|
||||
impl<T> EcssTmSender for T
|
||||
where
|
||||
T: EcssTmSenderCore + Clone + 'static,
|
||||
{
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast(&self) -> &dyn EcssTmSenderCore {
|
||||
self
|
||||
}
|
||||
// Remove this once trait upcasting coercion has been implemented.
|
||||
// Tracking issue: https://github.com/rust-lang/rust/issues/65991
|
||||
fn upcast_mut(&mut self) -> &mut dyn EcssTmSenderCore {
|
||||
self
|
||||
}
|
||||
}
|
||||
impl<T> EcssTmSender for T where T: EcssTmSenderCore + Clone + 'static {}
|
||||
|
||||
dyn_clone::clone_trait_object!(EcssTmSender);
|
||||
impl_downcast!(EcssTmSender);
|
||||
@ -345,33 +364,22 @@ mod alloc_mod {
|
||||
impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + 'static {}
|
||||
|
||||
impl_downcast!(EcssTcReceiver);
|
||||
|
||||
pub trait PusRoutingErrorHandler {
|
||||
type Error;
|
||||
fn handle_error(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
error: Self::Error,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
|
||||
pub mod std_mod {
|
||||
use crate::pool::{PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr};
|
||||
use crate::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr};
|
||||
use crate::pus::verification::{
|
||||
StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
|
||||
};
|
||||
use crate::pus::{
|
||||
EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
|
||||
EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
|
||||
TryRecvTmtcError,
|
||||
};
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
use crate::{ChannelId, TargetId};
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::ChannelId;
|
||||
use alloc::boxed::Box;
|
||||
use alloc::vec::Vec;
|
||||
use crossbeam_channel as cb;
|
||||
@ -381,12 +389,13 @@ pub mod std_mod {
|
||||
use spacepackets::time::cds::TimeProvider;
|
||||
use spacepackets::time::StdTimestampError;
|
||||
use spacepackets::time::TimeWriter;
|
||||
use std::cell::RefCell;
|
||||
use std::string::String;
|
||||
use std::sync::mpsc;
|
||||
use std::sync::mpsc::TryRecvError;
|
||||
use thiserror::Error;
|
||||
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::verification::VerificationReporterWithSender;
|
||||
use super::{AcceptedEcssTcAndToken, TcInMemory};
|
||||
|
||||
impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
|
||||
@ -411,14 +420,14 @@ pub mod std_mod {
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct MpscTmInSharedPoolSender {
|
||||
pub struct MpscTmInStoreSender {
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmPool,
|
||||
shared_tm_store: SharedTmStore,
|
||||
sender: mpsc::Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
impl EcssChannel for MpscTmInSharedPoolSender {
|
||||
impl EcssChannel for MpscTmInStoreSender {
|
||||
fn id(&self) -> ChannelId {
|
||||
self.id
|
||||
}
|
||||
@ -428,7 +437,7 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl MpscTmInSharedPoolSender {
|
||||
impl MpscTmInStoreSender {
|
||||
pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
|
||||
let addr = self.shared_tm_store.add_pus_tm(&tm)?;
|
||||
self.sender
|
||||
@ -437,7 +446,7 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for MpscTmInSharedPoolSender {
|
||||
impl EcssTmSenderCore for MpscTmInStoreSender {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
match tm {
|
||||
PusTmWrapper::InStore(addr) => {
|
||||
@ -449,11 +458,11 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl MpscTmInSharedPoolSender {
|
||||
impl MpscTmInStoreSender {
|
||||
pub fn new(
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmPool,
|
||||
shared_tm_store: SharedTmStore,
|
||||
sender: mpsc::Sender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -552,7 +561,7 @@ pub mod std_mod {
|
||||
pub struct CrossbeamTmInStoreSender {
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmPool,
|
||||
shared_tm_store: SharedTmStore,
|
||||
sender: crossbeam_channel::Sender<StoreAddr>,
|
||||
}
|
||||
|
||||
@ -560,7 +569,7 @@ pub mod std_mod {
|
||||
pub fn new(
|
||||
id: ChannelId,
|
||||
name: &'static str,
|
||||
shared_tm_store: SharedTmPool,
|
||||
shared_tm_store: SharedTmStore,
|
||||
sender: crossbeam_channel::Sender<StoreAddr>,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -632,20 +641,6 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: All these types could probably be no_std if we implemented error handling ourselves..
|
||||
// but thiserror is really nice, so keep it like this for simplicity for now. Maybe thiserror
|
||||
// will be no_std soon, see https://github.com/rust-lang/rust/issues/103765 .
|
||||
|
||||
#[derive(Debug, Clone, Error)]
|
||||
pub enum GenericRoutingError {
|
||||
#[error("not enough application data, expected at least {expected}, found {found}")]
|
||||
NotEnoughAppData { expected: usize, found: usize },
|
||||
#[error("Unknown target ID {0}")]
|
||||
UnknownTargetId(TargetId),
|
||||
#[error("Sending action request failed: {0}")]
|
||||
SendError(GenericSendError),
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Error)]
|
||||
pub enum PusPacketHandlingError {
|
||||
#[error("generic PUS error: {0}")]
|
||||
@ -654,8 +649,8 @@ pub mod std_mod {
|
||||
WrongService(u8),
|
||||
#[error("invalid subservice {0}")]
|
||||
InvalidSubservice(u8),
|
||||
#[error("not enough application data, expected at least {expected}, found {found}")]
|
||||
NotEnoughAppData { expected: usize, found: usize },
|
||||
#[error("not enough application data available: {0}")]
|
||||
NotEnoughAppData(String),
|
||||
#[error("PUS packet too large, does not fit in buffer: {0}")]
|
||||
PusPacketTooLarge(usize),
|
||||
#[error("invalid application data")]
|
||||
@ -666,8 +661,6 @@ pub mod std_mod {
|
||||
EcssTmtc(#[from] EcssTmtcError),
|
||||
#[error("invalid verification token")]
|
||||
InvalidVerificationToken,
|
||||
#[error("request routing error: {0}")]
|
||||
RequestRoutingError(#[from] GenericRoutingError),
|
||||
#[error("other error {0}")]
|
||||
Other(String),
|
||||
}
|
||||
@ -775,15 +768,12 @@ pub mod std_mod {
|
||||
.shared_tc_store
|
||||
.write()
|
||||
.map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
|
||||
let tc_size = tc_pool
|
||||
.len_of_data(&addr)
|
||||
.map_err(|e| PusPacketHandlingError::EcssTmtc(EcssTmtcError::Store(e)))?;
|
||||
if tc_size > self.pus_buf.len() {
|
||||
return Err(PusPacketHandlingError::PusPacketTooLarge(tc_size));
|
||||
}
|
||||
let tc_guard = tc_pool.read_with_guard(addr);
|
||||
// TODO: Proper error handling.
|
||||
tc_guard.read(&mut self.pus_buf[0..tc_size]).unwrap();
|
||||
let tc_raw = tc_guard.read().unwrap();
|
||||
if tc_raw.len() > self.pus_buf.len() {
|
||||
return Err(PusPacketHandlingError::PusPacketTooLarge(tc_raw.len()));
|
||||
}
|
||||
self.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -811,18 +801,18 @@ pub mod std_mod {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
|
||||
pub struct PusServiceBase {
|
||||
pub tc_receiver: Box<dyn EcssTcReceiver>,
|
||||
pub tm_sender: Box<dyn EcssTmSender>,
|
||||
pub tm_apid: u16,
|
||||
/// The verification handler is wrapped in a [RefCell] to allow the interior mutability
|
||||
/// pattern. This makes writing methods which are not mutable a lot easier.
|
||||
pub verification_handler: VerificationReporter,
|
||||
pub verification_handler: RefCell<StdVerifReporterWithSender>,
|
||||
}
|
||||
|
||||
impl<VerificationReporter: VerificationReportingProvider> PusServiceBase<VerificationReporter> {
|
||||
impl PusServiceBase {
|
||||
#[cfg(feature = "std")]
|
||||
pub fn get_current_cds_short_timestamp(
|
||||
pub fn get_current_timestamp(
|
||||
partial_error: &mut Option<PartialPusHandlingError>,
|
||||
) -> [u8; 7] {
|
||||
let mut time_stamp: [u8; 7] = [0; 7];
|
||||
@ -836,10 +826,11 @@ pub mod std_mod {
|
||||
}
|
||||
time_stamp
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
|
||||
let mut dummy = None;
|
||||
Self::get_current_cds_short_timestamp(&mut dummy)
|
||||
Self::get_current_timestamp(&mut dummy)
|
||||
}
|
||||
}
|
||||
|
||||
@ -852,24 +843,17 @@ pub mod std_mod {
|
||||
/// This base class can handle PUS telecommands backed by different memory storage machanisms
|
||||
/// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
|
||||
/// methods to make the generic parts of TC handling easier.
|
||||
pub struct PusServiceHelper<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub common: PusServiceBase<VerificationReporter>,
|
||||
pub struct PusServiceHelper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub common: PusServiceBase,
|
||||
pub tc_in_mem_converter: TcInMemConverter,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusServiceHelper<TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHelper<TcInMemConverter> {
|
||||
pub fn new(
|
||||
tc_receiver: Box<dyn EcssTcReceiver>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
tm_apid: u16,
|
||||
verification_handler: VerificationReporter,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
tc_in_mem_converter: TcInMemConverter,
|
||||
) -> Self {
|
||||
Self {
|
||||
@ -877,7 +861,7 @@ pub mod std_mod {
|
||||
tc_receiver,
|
||||
tm_sender,
|
||||
tm_apid,
|
||||
verification_handler,
|
||||
verification_handler: RefCell::new(verification_handler),
|
||||
},
|
||||
tc_in_mem_converter,
|
||||
}
|
||||
@ -931,35 +915,30 @@ pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), E
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use core::cell::RefCell;
|
||||
use std::sync::mpsc::TryRecvError;
|
||||
use std::sync::{mpsc, RwLock};
|
||||
|
||||
use alloc::boxed::Box;
|
||||
use alloc::collections::VecDeque;
|
||||
use alloc::vec::Vec;
|
||||
use satrs_shared::res_code::ResultU16;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
|
||||
use alloc::vec;
|
||||
use spacepackets::ecss::tc::PusTcCreator;
|
||||
use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
|
||||
use spacepackets::ecss::{PusPacket, WritablePusPacket};
|
||||
use spacepackets::CcsdsPacket;
|
||||
|
||||
use crate::pool::{
|
||||
PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig, StoreAddr,
|
||||
PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig,
|
||||
StoreAddr,
|
||||
};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
use crate::TargetId;
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
|
||||
use super::verification::tests::{SharedVerificationMap, TestVerificationReporter};
|
||||
use super::verification::{
|
||||
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
VerificationReportingProvider, VerificationToken,
|
||||
TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
|
||||
};
|
||||
use super::{
|
||||
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericRoutingError,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper, TcInMemory,
|
||||
EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
|
||||
MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
|
||||
PusServiceHelper, TcInMemory,
|
||||
};
|
||||
|
||||
pub const TEST_APID: u16 = 0x101;
|
||||
@ -1003,7 +982,7 @@ pub mod tests {
|
||||
pus_buf: [u8; 2048],
|
||||
tm_buf: [u8; 2048],
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
tm_pool: SharedTmPool,
|
||||
tm_pool: SharedTmStore,
|
||||
tc_sender: mpsc::Sender<EcssTcAndToken>,
|
||||
tm_receiver: mpsc::Receiver<StoreAddr>,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
@ -1014,29 +993,22 @@ pub mod tests {
|
||||
/// [PusServiceHandler] which might be required for a specific PUS service handler.
|
||||
///
|
||||
/// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
|
||||
pub fn new() -> (
|
||||
Self,
|
||||
PusServiceHelper<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
|
||||
) {
|
||||
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
|
||||
pub fn new() -> (Self, PusServiceHelper<EcssTcInSharedStoreConverter>) {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 16), (8, 32), (4, 64)]);
|
||||
let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let tm_pool = StaticMemoryPool::new(pool_cfg);
|
||||
let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
|
||||
let shared_tm_pool = SharedTmPool::new(tm_pool);
|
||||
let shared_tm_pool = SharedTmStore::new(tm_pool);
|
||||
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
|
||||
let (tm_tx, tm_rx) = mpsc::channel();
|
||||
|
||||
let verif_sender = MpscTmInSharedPoolSender::new(
|
||||
0,
|
||||
"verif_sender",
|
||||
shared_tm_pool.clone(),
|
||||
tm_tx.clone(),
|
||||
);
|
||||
let verif_sender =
|
||||
MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tm_tx.clone());
|
||||
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
let verification_handler =
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
|
||||
let test_srv_tm_sender =
|
||||
MpscTmInSharedPoolSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
|
||||
MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
|
||||
let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
|
||||
let in_store_converter =
|
||||
EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
|
||||
@ -1063,7 +1035,7 @@ pub mod tests {
|
||||
let token = self.verification_handler.add_tc(tc);
|
||||
let token = self
|
||||
.verification_handler
|
||||
.acceptance_success(token, &[0; 7])
|
||||
.acceptance_success(token, Some(&[0; 7]))
|
||||
.unwrap();
|
||||
let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
|
||||
let mut tc_pool = self.tc_pool.write().unwrap();
|
||||
@ -1080,9 +1052,9 @@ pub mod tests {
|
||||
let next_msg = self.tm_receiver.try_recv();
|
||||
assert!(next_msg.is_ok());
|
||||
let tm_addr = next_msg.unwrap();
|
||||
let tm_pool = self.tm_pool.0.read().unwrap();
|
||||
let tm_raw = tm_pool.read_as_vec(&tm_addr).unwrap();
|
||||
self.tm_buf[0..tm_raw.len()].copy_from_slice(&tm_raw);
|
||||
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
|
||||
let tm_raw = tm_pool.read(&tm_addr).unwrap();
|
||||
self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
|
||||
PusTmReader::new(&self.tm_buf, 7).unwrap().0
|
||||
}
|
||||
|
||||
@ -1098,9 +1070,9 @@ pub mod tests {
|
||||
let next_msg = self.tm_receiver.try_recv();
|
||||
assert!(next_msg.is_ok());
|
||||
let tm_addr = next_msg.unwrap();
|
||||
let tm_pool = self.tm_pool.0.read().unwrap();
|
||||
let tm_raw = tm_pool.read_as_vec(&tm_addr).unwrap();
|
||||
let tm = PusTmReader::new(&tm_raw, 7).unwrap().0;
|
||||
let tm_pool = self.tm_pool.shared_pool.read().unwrap();
|
||||
let tm_raw = tm_pool.read(&tm_addr).unwrap();
|
||||
let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
|
||||
assert_eq!(PusPacket::service(&tm), 1);
|
||||
assert_eq!(PusPacket::subservice(&tm), subservice);
|
||||
assert_eq!(tm.apid(), TEST_APID);
|
||||
@ -1110,18 +1082,15 @@ pub mod tests {
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PusServiceHandlerWithVecCommon<VerificationReporter: VerificationReportingProvider> {
|
||||
pub struct PusServiceHandlerWithVecCommon {
|
||||
current_tm: Option<alloc::vec::Vec<u8>>,
|
||||
tc_sender: mpsc::Sender<EcssTcAndToken>,
|
||||
tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
|
||||
pub verification_handler: VerificationReporter,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
}
|
||||
|
||||
impl PusServiceHandlerWithVecCommon<VerificationReporterWithSender> {
|
||||
pub fn new_with_standard_verif_reporter() -> (
|
||||
Self,
|
||||
PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithSender>,
|
||||
) {
|
||||
impl PusServiceHandlerWithVecCommon {
|
||||
pub fn new() -> (Self, PusServiceHelper<EcssTcInVecConverter>) {
|
||||
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
|
||||
let (tm_tx, tm_rx) = mpsc::channel();
|
||||
|
||||
@ -1129,7 +1098,6 @@ pub mod tests {
|
||||
let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
let verification_handler =
|
||||
VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
|
||||
|
||||
let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
|
||||
let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
|
||||
let in_store_converter = EcssTcInVecConverter::default();
|
||||
@ -1149,47 +1117,12 @@ pub mod tests {
|
||||
),
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
|
||||
pub fn new_with_test_verif_sender() -> (
|
||||
Self,
|
||||
PusServiceHelper<EcssTcInVecConverter, TestVerificationReporter>,
|
||||
) {
|
||||
let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
|
||||
let (tm_tx, tm_rx) = mpsc::channel();
|
||||
|
||||
let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
|
||||
let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
|
||||
let in_store_converter = EcssTcInVecConverter::default();
|
||||
let shared_verif_map = SharedVerificationMap::default();
|
||||
let verification_handler = TestVerificationReporter::new(shared_verif_map);
|
||||
(
|
||||
Self {
|
||||
current_tm: None,
|
||||
tc_sender: test_srv_tc_tx,
|
||||
tm_receiver: tm_rx,
|
||||
verification_handler: verification_handler.clone(),
|
||||
},
|
||||
PusServiceHelper::new(
|
||||
Box::new(test_srv_tc_receiver),
|
||||
Box::new(test_srv_tm_sender),
|
||||
TEST_APID,
|
||||
verification_handler,
|
||||
in_store_converter,
|
||||
),
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
impl<VerificationReporter: VerificationReportingProvider>
|
||||
PusServiceHandlerWithVecCommon<VerificationReporter>
|
||||
{
|
||||
pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
|
||||
let token = self.verification_handler.add_tc(tc);
|
||||
let token = self
|
||||
.verification_handler
|
||||
.acceptance_success(token, &[0; 7])
|
||||
.acceptance_success(token, Some(&[0; 7]))
|
||||
.unwrap();
|
||||
// Send accepted TC to test service handler.
|
||||
self.tc_sender
|
||||
@ -1231,106 +1164,4 @@ pub mod tests {
|
||||
assert_eq!(req_id, expected_request_id);
|
||||
}
|
||||
}
|
||||
|
||||
pub const APP_DATA_TOO_SHORT: ResultU16 = ResultU16::new(1, 1);
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct TestConverter<const SERVICE: u8> {
|
||||
pub conversion_request: VecDeque<Vec<u8>>,
|
||||
}
|
||||
|
||||
impl<const SERVICE: u8> TestConverter<SERVICE> {
|
||||
pub fn check_service(&self, tc: &PusTcReader) -> Result<(), PusPacketHandlingError> {
|
||||
if tc.service() != SERVICE {
|
||||
return Err(PusPacketHandlingError::WrongService(tc.service()));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn is_empty(&self) {
|
||||
self.conversion_request.is_empty();
|
||||
}
|
||||
|
||||
pub fn check_next_conversion(&mut self, tc: &PusTcCreator) {
|
||||
assert!(!self.conversion_request.is_empty());
|
||||
assert_eq!(
|
||||
self.conversion_request.pop_front().unwrap(),
|
||||
tc.to_vec().unwrap()
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct TestRoutingErrorHandler {
|
||||
pub routing_errors: RefCell<VecDeque<(TargetId, GenericRoutingError)>>,
|
||||
}
|
||||
|
||||
impl PusRoutingErrorHandler for TestRoutingErrorHandler {
|
||||
type Error = GenericRoutingError;
|
||||
|
||||
fn handle_error(
|
||||
&self,
|
||||
target_id: TargetId,
|
||||
_token: VerificationToken<TcStateAccepted>,
|
||||
_tc: &PusTcReader,
|
||||
error: Self::Error,
|
||||
_time_stamp: &[u8],
|
||||
_verif_reporter: &impl VerificationReportingProvider,
|
||||
) {
|
||||
self.routing_errors
|
||||
.borrow_mut()
|
||||
.push_back((target_id, error));
|
||||
}
|
||||
}
|
||||
|
||||
impl TestRoutingErrorHandler {
|
||||
pub fn is_empty(&self) -> bool {
|
||||
self.routing_errors.borrow().is_empty()
|
||||
}
|
||||
|
||||
pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError) {
|
||||
if self.routing_errors.borrow().is_empty() {
|
||||
panic!("no routing request available");
|
||||
}
|
||||
self.routing_errors.borrow_mut().pop_front().unwrap()
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TestRouter<REQUEST> {
|
||||
pub routing_requests: RefCell<VecDeque<(TargetId, REQUEST)>>,
|
||||
pub injected_routing_failure: RefCell<Option<GenericRoutingError>>,
|
||||
}
|
||||
|
||||
impl<REQUEST> Default for TestRouter<REQUEST> {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
routing_requests: Default::default(),
|
||||
injected_routing_failure: Default::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<REQUEST> TestRouter<REQUEST> {
|
||||
pub fn check_for_injected_error(&self) -> Result<(), GenericRoutingError> {
|
||||
if self.injected_routing_failure.borrow().is_some() {
|
||||
return Err(self.injected_routing_failure.borrow_mut().take().unwrap());
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn inject_routing_error(&mut self, error: GenericRoutingError) {
|
||||
*self.injected_routing_failure.borrow_mut() = Some(error);
|
||||
}
|
||||
|
||||
pub fn is_empty(&self) -> bool {
|
||||
self.routing_requests.borrow().is_empty()
|
||||
}
|
||||
|
||||
pub fn retrieve_next_request(&mut self) -> (TargetId, REQUEST) {
|
||||
if self.routing_requests.borrow().is_empty() {
|
||||
panic!("no routing request available");
|
||||
}
|
||||
self.routing_requests.borrow_mut().pop_front().unwrap()
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -8,15 +8,13 @@ use core::time::Duration;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ecss::scheduling::TimeWindowType;
|
||||
use spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand, PusTcReader};
|
||||
use spacepackets::ecss::{PusError, PusPacket, WritablePusPacket};
|
||||
use spacepackets::time::{
|
||||
CcsdsTimeProvider, TimeReader, TimeWriter, TimestampError, UnixTimestamp,
|
||||
};
|
||||
use spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use spacepackets::time::{CcsdsTimeProvider, TimeReader, TimestampError, UnixTimestamp};
|
||||
use spacepackets::CcsdsPacket;
|
||||
#[cfg(feature = "std")]
|
||||
use std::error::Error;
|
||||
|
||||
use crate::pool::{PoolProvider, StoreError};
|
||||
use crate::pool::{PoolProviderMemInPlace, StoreError};
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
@ -156,9 +154,8 @@ pub enum ScheduleError {
|
||||
StoreError(StoreError),
|
||||
TcDataEmpty,
|
||||
TimestampError(TimestampError),
|
||||
WrongSubservice(u8),
|
||||
WrongService(u8),
|
||||
ByteConversionError(ByteConversionError),
|
||||
WrongSubservice,
|
||||
WrongService,
|
||||
}
|
||||
|
||||
impl Display for ScheduleError {
|
||||
@ -174,29 +171,26 @@ impl Display for ScheduleError {
|
||||
} => {
|
||||
write!(
|
||||
f,
|
||||
"time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
|
||||
"Error: time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
|
||||
)
|
||||
}
|
||||
ScheduleError::NestedScheduledTc => {
|
||||
write!(f, "nested scheduling is not allowed")
|
||||
write!(f, "Error: nested scheduling is not allowed")
|
||||
}
|
||||
ScheduleError::StoreError(e) => {
|
||||
write!(f, "pus scheduling: {e}")
|
||||
write!(f, "Store Error: {e}")
|
||||
}
|
||||
ScheduleError::TcDataEmpty => {
|
||||
write!(f, "empty TC data field")
|
||||
write!(f, "Error: empty Tc Data field")
|
||||
}
|
||||
ScheduleError::TimestampError(e) => {
|
||||
write!(f, "pus scheduling: {e}")
|
||||
write!(f, "Timestamp Error: {e}")
|
||||
}
|
||||
ScheduleError::WrongService(srv) => {
|
||||
write!(f, "pus scheduling: wrong service number {srv}")
|
||||
ScheduleError::WrongService => {
|
||||
write!(f, "Error: Service not 11.")
|
||||
}
|
||||
ScheduleError::WrongSubservice(subsrv) => {
|
||||
write!(f, "pus scheduling: wrong subservice number {subsrv}")
|
||||
}
|
||||
ScheduleError::ByteConversionError(e) => {
|
||||
write!(f, "pus scheduling: {e}")
|
||||
ScheduleError::WrongSubservice => {
|
||||
write!(f, "Error: Subservice not 4.")
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -204,45 +198,32 @@ impl Display for ScheduleError {
|
||||
|
||||
impl From<PusError> for ScheduleError {
|
||||
fn from(e: PusError) -> Self {
|
||||
Self::PusError(e)
|
||||
ScheduleError::PusError(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<StoreError> for ScheduleError {
|
||||
fn from(e: StoreError) -> Self {
|
||||
Self::StoreError(e)
|
||||
ScheduleError::StoreError(e)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<TimestampError> for ScheduleError {
|
||||
fn from(e: TimestampError) -> Self {
|
||||
Self::TimestampError(e)
|
||||
}
|
||||
}
|
||||
impl From<ByteConversionError> for ScheduleError {
|
||||
fn from(e: ByteConversionError) -> Self {
|
||||
Self::ByteConversionError(e)
|
||||
ScheduleError::TimestampError(e)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
impl Error for ScheduleError {
|
||||
fn source(&self) -> Option<&(dyn Error + 'static)> {
|
||||
match self {
|
||||
ScheduleError::PusError(e) => Some(e),
|
||||
ScheduleError::StoreError(e) => Some(e),
|
||||
ScheduleError::TimestampError(e) => Some(e),
|
||||
ScheduleError::ByteConversionError(e) => Some(e),
|
||||
_ => None,
|
||||
}
|
||||
}
|
||||
}
|
||||
impl Error for ScheduleError {}
|
||||
|
||||
/// Generic trait for scheduler objects which are able to schedule ECSS PUS C packets.
|
||||
pub trait PusSchedulerProvider {
|
||||
pub trait PusSchedulerInterface {
|
||||
type TimeProvider: CcsdsTimeProvider + TimeReader;
|
||||
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError>;
|
||||
fn reset(
|
||||
&mut self,
|
||||
store: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<(), StoreError>;
|
||||
|
||||
fn is_enabled(&self) -> bool;
|
||||
|
||||
@ -265,15 +246,13 @@ pub trait PusSchedulerProvider {
|
||||
fn insert_wrapped_tc<TimeProvider>(
|
||||
&mut self,
|
||||
pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
if PusPacket::service(pus_tc) != 11 {
|
||||
return Err(ScheduleError::WrongService(PusPacket::service(pus_tc)));
|
||||
return Err(ScheduleError::WrongService);
|
||||
}
|
||||
if PusPacket::subservice(pus_tc) != 4 {
|
||||
return Err(ScheduleError::WrongSubservice(PusPacket::subservice(
|
||||
pus_tc,
|
||||
)));
|
||||
return Err(ScheduleError::WrongSubservice);
|
||||
}
|
||||
if pus_tc.user_data().is_empty() {
|
||||
return Err(ScheduleError::TcDataEmpty);
|
||||
@ -291,7 +270,7 @@ pub trait PusSchedulerProvider {
|
||||
&mut self,
|
||||
time_stamp: UnixTimestamp,
|
||||
tc: &[u8],
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
let check_tc = PusTcReader::new(tc)?;
|
||||
if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
|
||||
@ -310,38 +289,10 @@ pub trait PusSchedulerProvider {
|
||||
}
|
||||
}
|
||||
|
||||
/// Helper function to generate the application data for a PUS telecommand to insert an
|
||||
/// activity into a time-based schedule according to ECSS-E-ST-70-41C 8.11.2.4
|
||||
///
|
||||
/// Please note that the N field is set to a [u16] unsigned bytefield with the value 1.
|
||||
pub fn generate_insert_telecommand_app_data(
|
||||
buf: &mut [u8],
|
||||
release_time: &impl TimeWriter,
|
||||
request: &impl WritablePusPacket,
|
||||
) -> Result<usize, ScheduleError> {
|
||||
let required_len = 2 + release_time.len_written() + request.len_written();
|
||||
if required_len > buf.len() {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
found: buf.len(),
|
||||
expected: required_len,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let mut current_len = 0;
|
||||
let n = 1_u16;
|
||||
buf[current_len..current_len + 2].copy_from_slice(&n.to_be_bytes());
|
||||
current_len += 2;
|
||||
current_len += release_time
|
||||
.write_to_bytes(&mut buf[current_len..current_len + release_time.len_written()])?;
|
||||
current_len +=
|
||||
request.write_to_bytes(&mut buf[current_len..current_len + request.len_written()])?;
|
||||
Ok(current_len)
|
||||
}
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use super::*;
|
||||
use crate::pool::{PoolProvider, StoreAddr, StoreError};
|
||||
use crate::pool::{PoolProviderMemInPlace, StoreAddr, StoreError};
|
||||
use alloc::collections::btree_map::{Entry, Range};
|
||||
use alloc::collections::BTreeMap;
|
||||
use alloc::vec;
|
||||
@ -356,19 +307,6 @@ pub mod alloc_mod {
|
||||
#[cfg(feature = "std")]
|
||||
use std::time::SystemTimeError;
|
||||
|
||||
/// This function is similar to [generate_insert_telecommand_app_data] but returns the application
|
||||
/// data as a [alloc::vec::Vec].
|
||||
pub fn generate_insert_telecommand_app_data_as_vec(
|
||||
release_time: &impl TimeWriter,
|
||||
request: &impl WritablePusPacket,
|
||||
) -> Result<alloc::vec::Vec<u8>, ScheduleError> {
|
||||
let mut vec = alloc::vec::Vec::new();
|
||||
vec.extend_from_slice(&1_u16.to_be_bytes());
|
||||
vec.append(&mut release_time.to_vec()?);
|
||||
vec.append(&mut request.to_vec()?);
|
||||
Ok(vec)
|
||||
}
|
||||
|
||||
enum DeletionResult {
|
||||
WithoutStoreDeletion(Option<StoreAddr>),
|
||||
WithStoreDeletion(Result<bool, StoreError>),
|
||||
@ -377,7 +315,7 @@ pub mod alloc_mod {
|
||||
/// This is the core data structure for scheduling PUS telecommands with [alloc] support.
|
||||
///
|
||||
/// It is assumed that the actual telecommand data is stored in a separate TC pool offering
|
||||
/// a [crate::pool::PoolProvider] API. This data structure just tracks the store
|
||||
/// a [crate::pool::PoolProviderMemInPlace] API. This data structure just tracks the store
|
||||
/// addresses and their release times and offers a convenient API to insert and release
|
||||
/// telecommands and perform other functionality specified by the ECSS standard in section 6.11.
|
||||
/// The time is tracked as a [spacepackets::time::UnixTimestamp] but the only requirement to
|
||||
@ -411,8 +349,6 @@ pub mod alloc_mod {
|
||||
/// * `time_margin` - This time margin is used when inserting new telecommands into the
|
||||
/// schedule. If the release time of a new telecommand is earlier than the time margin
|
||||
/// added to the current time, it will not be inserted into the schedule.
|
||||
/// * `tc_buf_size` - Buffer for temporary storage of telecommand packets. This buffer
|
||||
/// should be large enough to accomodate the largest expected TC packets.
|
||||
pub fn new(init_current_time: UnixTimestamp, time_margin: Duration) -> Self {
|
||||
PusScheduler {
|
||||
tc_map: Default::default(),
|
||||
@ -476,7 +412,7 @@ pub mod alloc_mod {
|
||||
&mut self,
|
||||
time_stamp: UnixTimestamp,
|
||||
tc: &[u8],
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
let check_tc = PusTcReader::new(tc)?;
|
||||
if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
|
||||
@ -499,7 +435,7 @@ pub mod alloc_mod {
|
||||
pub fn insert_wrapped_tc_cds_short(
|
||||
&mut self,
|
||||
pus_tc: &PusTc,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
|
||||
}
|
||||
@ -509,7 +445,7 @@ pub mod alloc_mod {
|
||||
pub fn insert_wrapped_tc_cds_long(
|
||||
&mut self,
|
||||
pus_tc: &PusTc,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<TcInfo, ScheduleError> {
|
||||
self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
|
||||
}
|
||||
@ -525,7 +461,7 @@ pub mod alloc_mod {
|
||||
pub fn delete_by_time_filter<TimeProvider: CcsdsTimeProvider + Clone>(
|
||||
&mut self,
|
||||
time_window: TimeWindow<TimeProvider>,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
let range = self.retrieve_by_time_filter(time_window);
|
||||
let mut del_packets = 0;
|
||||
@ -555,7 +491,7 @@ pub mod alloc_mod {
|
||||
/// the last deletion will be supplied in addition to the number of deleted commands.
|
||||
pub fn delete_all(
|
||||
&mut self,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.delete_by_time_filter(TimeWindow::<cds::TimeProvider>::new_select_all(), pool)
|
||||
}
|
||||
@ -613,7 +549,7 @@ pub mod alloc_mod {
|
||||
pub fn delete_by_request_id_and_from_pool(
|
||||
&mut self,
|
||||
req_id: &RequestId,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<bool, StoreError> {
|
||||
if let DeletionResult::WithStoreDeletion(v) =
|
||||
self.delete_by_request_id_internal_with_store_deletion(req_id, pool)
|
||||
@ -645,7 +581,7 @@ pub mod alloc_mod {
|
||||
fn delete_by_request_id_internal_with_store_deletion(
|
||||
&mut self,
|
||||
req_id: &RequestId,
|
||||
pool: &mut (impl PoolProvider + ?Sized),
|
||||
pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> DeletionResult {
|
||||
let mut idx_found = None;
|
||||
for time_bucket in &mut self.tc_map {
|
||||
@ -675,8 +611,7 @@ pub mod alloc_mod {
|
||||
/// Utility method which calls [Self::telecommands_to_release] and then calls a releaser
|
||||
/// closure for each telecommand which should be released. This function will also delete
|
||||
/// the telecommands from the holding store after calling the release closure if the user
|
||||
/// returns [true] from the release closure. A buffer must be provided to hold the
|
||||
/// telecommands for the release process.
|
||||
/// returns [true] from the release closure.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
@ -686,55 +621,18 @@ pub mod alloc_mod {
|
||||
/// note that returning false might lead to memory leaks if the TC is not cleared from
|
||||
/// the store in some other way.
|
||||
/// * `tc_store` - The holding store of the telecommands.
|
||||
/// * `tc_buf` - Buffer to hold each telecommand being released.
|
||||
pub fn release_telecommands_with_buffer<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
|
||||
&mut self,
|
||||
releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
tc_buf: &mut [u8],
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.release_telecommands_internal(releaser, tc_store, Some(tc_buf))
|
||||
}
|
||||
|
||||
/// This functions is almost identical to [Self::release_telecommands_with_buffer] but does
|
||||
/// not require a user provided TC buffer because it will always use the
|
||||
/// [PoolProvider::read_as_vec] API to read the TC packets.
|
||||
///
|
||||
/// However, this might also perform frequent allocations for all telecommands being
|
||||
/// released.
|
||||
pub fn release_telecommands<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
|
||||
&mut self,
|
||||
releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
self.release_telecommands_internal(releaser, tc_store, None)
|
||||
}
|
||||
|
||||
fn release_telecommands_internal<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
|
||||
&mut self,
|
||||
mut releaser: R,
|
||||
tc_store: &mut (impl PoolProvider + ?Sized),
|
||||
mut tc_buf: Option<&mut [u8]>,
|
||||
tc_store: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<u64, (u64, StoreError)> {
|
||||
let tcs_to_release = self.telecommands_to_release();
|
||||
let mut released_tcs = 0;
|
||||
let mut store_error = Ok(());
|
||||
for tc in tcs_to_release {
|
||||
for info in tc.1 {
|
||||
let should_delete = match tc_buf.as_mut() {
|
||||
Some(buf) => {
|
||||
tc_store
|
||||
.read(&info.addr, buf)
|
||||
.map_err(|e| (released_tcs, e))?;
|
||||
releaser(self.enabled, info, buf)
|
||||
}
|
||||
None => {
|
||||
let tc = tc_store
|
||||
.read_as_vec(&info.addr)
|
||||
.map_err(|e| (released_tcs, e))?;
|
||||
releaser(self.enabled, info, &tc)
|
||||
}
|
||||
};
|
||||
let tc = tc_store.read(&info.addr).map_err(|e| (released_tcs, e))?;
|
||||
let should_delete = releaser(self.enabled, info, tc);
|
||||
released_tcs += 1;
|
||||
if should_delete {
|
||||
let res = tc_store.delete(info.addr);
|
||||
@ -759,17 +657,16 @@ pub mod alloc_mod {
|
||||
pub fn release_telecommands_no_deletion<R: FnMut(bool, &TcInfo, &[u8])>(
|
||||
&mut self,
|
||||
mut releaser: R,
|
||||
tc_store: &(impl PoolProvider + ?Sized),
|
||||
tc_buf: &mut [u8],
|
||||
tc_store: &(impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
|
||||
let tcs_to_release = self.telecommands_to_release();
|
||||
let mut released_tcs = Vec::new();
|
||||
for tc in tcs_to_release {
|
||||
for info in tc.1 {
|
||||
tc_store
|
||||
.read(&info.addr, tc_buf)
|
||||
let tc = tc_store
|
||||
.read(&info.addr)
|
||||
.map_err(|e| (released_tcs.clone(), e))?;
|
||||
releaser(self.is_enabled(), info, tc_buf);
|
||||
releaser(self.is_enabled(), info, tc);
|
||||
released_tcs.push(*info);
|
||||
}
|
||||
}
|
||||
@ -783,7 +680,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
}
|
||||
|
||||
impl PusSchedulerProvider for PusScheduler {
|
||||
impl PusSchedulerInterface for PusScheduler {
|
||||
type TimeProvider = cds::TimeProvider;
|
||||
|
||||
/// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
|
||||
@ -792,7 +689,10 @@ pub mod alloc_mod {
|
||||
/// The holding store for the telecommands needs to be passed so all the stored telecommands
|
||||
/// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
|
||||
/// will be returned but the method will still try to delete all the commands in the schedule.
|
||||
fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), StoreError> {
|
||||
fn reset(
|
||||
&mut self,
|
||||
store: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<(), StoreError> {
|
||||
self.enabled = false;
|
||||
let mut deletion_ok = Ok(());
|
||||
for tc_lists in &mut self.tc_map {
|
||||
@ -850,13 +750,14 @@ pub mod alloc_mod {
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::pool::{
|
||||
PoolProvider, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr, StoreError,
|
||||
PoolProviderMemInPlace, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr,
|
||||
StoreError,
|
||||
};
|
||||
use alloc::collections::btree_map::Range;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use spacepackets::time::{cds, TimeWriter, UnixTimestamp};
|
||||
use spacepackets::{PacketId, PacketSequenceCtrl, PacketType, SequenceFlags, SpHeader};
|
||||
use spacepackets::SpHeader;
|
||||
use std::time::Duration;
|
||||
use std::vec::Vec;
|
||||
#[allow(unused_imports)]
|
||||
@ -934,7 +835,7 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_enable_api() {
|
||||
fn basic() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
assert!(scheduler.is_enabled());
|
||||
@ -945,8 +846,8 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_reset() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
fn reset() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
@ -956,7 +857,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(100),
|
||||
TcInfo::new(tc_info_0.addr, tc_info_0.request_id),
|
||||
TcInfo::new(tc_info_0.addr.clone(), tc_info_0.request_id),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -965,7 +866,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(200),
|
||||
TcInfo::new(tc_info_1.addr, tc_info_1.request_id),
|
||||
TcInfo::new(tc_info_1.addr.clone(), tc_info_1.request_id),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -974,7 +875,7 @@ mod tests {
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(
|
||||
UnixTimestamp::new_only_seconds(300),
|
||||
TcInfo::new(tc_info_2.addr(), tc_info_2.request_id()),
|
||||
TcInfo::new(tc_info_2.addr().clone(), tc_info_2.request_id()),
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@ -1049,7 +950,7 @@ mod tests {
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_time_update() {
|
||||
fn time() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let time = UnixTimestamp::new(1, 2).unwrap();
|
||||
@ -1063,7 +964,7 @@ mod tests {
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert!(enabled);
|
||||
assert_eq!(enabled, true);
|
||||
assert!(expected_store_addrs.contains(store_addr));
|
||||
*counter += 1;
|
||||
}
|
||||
@ -1073,13 +974,13 @@ mod tests {
|
||||
expected_store_addrs: Vec<StoreAddr>,
|
||||
counter: &mut usize,
|
||||
) {
|
||||
assert!(!enabled);
|
||||
assert_eq!(enabled, false);
|
||||
assert!(expected_store_addrs.contains(store_addr));
|
||||
*counter += 1;
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_request_id() {
|
||||
fn request_id() {
|
||||
let src_id_to_set = 12;
|
||||
let apid_to_set = 0x22;
|
||||
let seq_count = 105;
|
||||
@ -1097,8 +998,8 @@ mod tests {
|
||||
);
|
||||
}
|
||||
#[test]
|
||||
fn test_release_telecommands() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
fn release_basic() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
@ -1123,9 +1024,8 @@ mod tests {
|
||||
// test 1: too early, no tcs
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(99));
|
||||
|
||||
let mut tc_buf: [u8; 128] = [0; 128];
|
||||
scheduler
|
||||
.release_telecommands_with_buffer(&mut test_closure_1, &mut pool, &mut tc_buf)
|
||||
.release_telecommands(&mut test_closure_1, &mut pool)
|
||||
.expect("deletion failed");
|
||||
|
||||
// test 2: exact time stamp of tc, releases 1 tc
|
||||
@ -1147,7 +1047,7 @@ mod tests {
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(206));
|
||||
|
||||
released = scheduler
|
||||
.release_telecommands_with_buffer(&mut test_closure_2, &mut pool, &mut tc_buf)
|
||||
.release_telecommands(&mut test_closure_2, &mut pool)
|
||||
.expect("deletion failed");
|
||||
assert_eq!(released, 1);
|
||||
// TC is deleted.
|
||||
@ -1164,7 +1064,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn release_multi_with_same_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
@ -1193,10 +1093,9 @@ mod tests {
|
||||
|
||||
// test 1: too early, no tcs
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(99));
|
||||
let mut tc_buf: [u8; 128] = [0; 128];
|
||||
|
||||
let mut released = scheduler
|
||||
.release_telecommands_with_buffer(&mut test_closure, &mut pool, &mut tc_buf)
|
||||
.release_telecommands(&mut test_closure, &mut pool)
|
||||
.expect("deletion failed");
|
||||
assert_eq!(released, 0);
|
||||
|
||||
@ -1222,7 +1121,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn release_with_scheduler_disabled() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
@ -1246,13 +1145,11 @@ mod tests {
|
||||
true
|
||||
};
|
||||
|
||||
let mut tc_buf: [u8; 128] = [0; 128];
|
||||
|
||||
// test 1: too early, no tcs
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(99));
|
||||
|
||||
scheduler
|
||||
.release_telecommands_with_buffer(&mut test_closure_1, &mut pool, &mut tc_buf)
|
||||
.release_telecommands(&mut test_closure_1, &mut pool)
|
||||
.expect("deletion failed");
|
||||
|
||||
// test 2: exact time stamp of tc, releases 1 tc
|
||||
@ -1292,7 +1189,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
@ -1306,9 +1203,8 @@ mod tests {
|
||||
|
||||
assert!(pool.has_element_at(&tc_info_0.addr()).unwrap());
|
||||
|
||||
let mut read_buf: [u8; 64] = [0; 64];
|
||||
pool.read(&tc_info_0.addr(), &mut read_buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
|
||||
let data = pool.read(&tc_info_0.addr()).unwrap();
|
||||
let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
|
||||
@ -1329,9 +1225,8 @@ mod tests {
|
||||
.release_telecommands(&mut test_closure, &mut pool)
|
||||
.unwrap();
|
||||
|
||||
let read_len = pool.read(&addr_vec[0], &mut read_buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&read_buf).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
let data = pool.read(&addr_vec[0]).unwrap();
|
||||
let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
}
|
||||
|
||||
@ -1340,7 +1235,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc = scheduled_tc(UnixTimestamp::new_only_seconds(100), &mut buf);
|
||||
@ -1354,9 +1249,8 @@ mod tests {
|
||||
|
||||
assert!(pool.has_element_at(&info.addr).unwrap());
|
||||
|
||||
let read_len = pool.read(&info.addr, &mut buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&buf).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
let data = pool.read(&info.addr).unwrap();
|
||||
let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 1);
|
||||
@ -1373,15 +1267,12 @@ mod tests {
|
||||
false
|
||||
};
|
||||
|
||||
let mut tc_buf: [u8; 64] = [0; 64];
|
||||
|
||||
scheduler
|
||||
.release_telecommands_with_buffer(&mut test_closure, &mut pool, &mut tc_buf)
|
||||
.release_telecommands(&mut test_closure, &mut pool)
|
||||
.unwrap();
|
||||
|
||||
let read_len = pool.read(&addr_vec[0], &mut buf).unwrap();
|
||||
let check_tc = PusTcReader::new(&buf).expect("incorrect PUS tc raw data");
|
||||
assert_eq!(read_len, check_tc.1);
|
||||
let data = pool.read(&addr_vec[0]).unwrap();
|
||||
let check_tc = PusTcReader::new(data).expect("incorrect PUS tc raw data");
|
||||
assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
|
||||
}
|
||||
|
||||
@ -1390,7 +1281,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc = wrong_tc_service(UnixTimestamp::new_only_seconds(100), &mut buf);
|
||||
@ -1399,9 +1290,7 @@ mod tests {
|
||||
assert!(err.is_err());
|
||||
let err = err.unwrap_err();
|
||||
match err {
|
||||
ScheduleError::WrongService(wrong_service) => {
|
||||
assert_eq!(wrong_service, 12);
|
||||
}
|
||||
ScheduleError::WrongService => {}
|
||||
_ => {
|
||||
panic!("unexpected error")
|
||||
}
|
||||
@ -1413,7 +1302,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc = wrong_tc_subservice(UnixTimestamp::new_only_seconds(100), &mut buf);
|
||||
@ -1422,9 +1311,7 @@ mod tests {
|
||||
assert!(err.is_err());
|
||||
let err = err.unwrap_err();
|
||||
match err {
|
||||
ScheduleError::WrongSubservice(wrong_subsrv) => {
|
||||
assert_eq!(wrong_subsrv, 5);
|
||||
}
|
||||
ScheduleError::WrongSubservice => {}
|
||||
_ => {
|
||||
panic!("unexpected error")
|
||||
}
|
||||
@ -1435,7 +1322,7 @@ mod tests {
|
||||
fn insert_wrapped_tc_faulty_app_data() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let tc = invalid_time_tagged_cmd();
|
||||
let insert_res = scheduler.insert_wrapped_tc::<cds::TimeProvider>(&tc, &mut pool);
|
||||
assert!(insert_res.is_err());
|
||||
@ -1450,7 +1337,7 @@ mod tests {
|
||||
fn insert_doubly_wrapped_time_tagged_cmd() {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut buf: [u8; 64] = [0; 64];
|
||||
let tc = double_wrapped_time_tagged_tc(UnixTimestamp::new_only_seconds(50), &mut buf);
|
||||
let insert_res = scheduler.insert_wrapped_tc::<cds::TimeProvider>(&tc, &mut pool);
|
||||
@ -1486,7 +1373,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
|
||||
@ -1510,7 +1397,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_store_error_propagation_release() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
@ -1545,7 +1432,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_store_error_propagation_reset() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
@ -1569,7 +1456,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_delete_by_req_id_simple_retrieve_addr() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
@ -1588,7 +1475,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_delete_by_req_id_simple_delete_all() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
@ -1600,14 +1487,14 @@ mod tests {
|
||||
let del_res =
|
||||
scheduler.delete_by_request_id_and_from_pool(&tc_info_0.request_id(), &mut pool);
|
||||
assert!(del_res.is_ok());
|
||||
assert!(del_res.unwrap());
|
||||
assert_eq!(del_res.unwrap(), true);
|
||||
assert!(!pool.has_element_at(&tc_info_0.addr()).unwrap());
|
||||
assert_eq!(scheduler.num_scheduled_telecommands(), 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_delete_by_req_id_complex() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
@ -1654,7 +1541,7 @@ mod tests {
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(1, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(1, 64)]));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
// Store is full after this.
|
||||
@ -1693,7 +1580,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_time_window_retrieval_select_all() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1724,7 +1611,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_time_window_retrieval_select_from_stamp() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let _ = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1755,7 +1642,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_time_window_retrieval_select_to_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1786,7 +1673,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_time_window_retrieval_select_from_time_to_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let _ = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1821,7 +1708,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_deletion_all() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1848,7 +1735,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_deletion_from_start_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1869,7 +1756,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_deletion_to_end_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let cmd_0_to_delete = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1891,7 +1778,7 @@ mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_deletion_from_start_time_to_end_time() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
let cmd_out_of_range_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
|
||||
@ -1917,110 +1804,4 @@ mod tests {
|
||||
assert!(!pool.has_element_at(&cmd_1_to_delete.addr()).unwrap());
|
||||
assert!(pool.has_element_at(&cmd_out_of_range_1.addr()).unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_release_without_deletion() {
|
||||
let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)], false));
|
||||
let mut scheduler =
|
||||
PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
|
||||
|
||||
let mut buf: [u8; 32] = [0; 32];
|
||||
let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
|
||||
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTimestamp::new_only_seconds(100), tc_info_0)
|
||||
.expect("insertion failed");
|
||||
|
||||
let tc_info_1 = ping_tc_to_store(&mut pool, &mut buf, 1, None);
|
||||
scheduler
|
||||
.insert_unwrapped_and_stored_tc(UnixTimestamp::new_only_seconds(200), tc_info_1)
|
||||
.expect("insertion failed");
|
||||
|
||||
let mut i = 0;
|
||||
let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
|
||||
common_check(
|
||||
boolvar,
|
||||
&tc_info.addr,
|
||||
vec![tc_info_0.addr(), tc_info_1.addr()],
|
||||
&mut i,
|
||||
);
|
||||
};
|
||||
|
||||
scheduler.update_time(UnixTimestamp::new_only_seconds(205));
|
||||
|
||||
let mut tc_buf: [u8; 64] = [0; 64];
|
||||
let tc_info_vec = scheduler
|
||||
.release_telecommands_no_deletion(&mut test_closure_1, &pool, &mut tc_buf)
|
||||
.expect("deletion failed");
|
||||
assert_eq!(tc_info_vec[0], tc_info_0);
|
||||
assert_eq!(tc_info_vec[1], tc_info_1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 64] = [0; 64];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_ok());
|
||||
assert_eq!(result.unwrap(), 2 + 7 + ping_tc.len_written());
|
||||
let n = u16::from_be_bytes(buf[0..2].try_into().unwrap());
|
||||
assert_eq!(n, 1);
|
||||
let time_reader = cds::TimeProvider::from_bytes_with_u16_days(&buf[2..2 + 7]).unwrap();
|
||||
assert_eq!(time_reader, time_writer);
|
||||
let pus_tc_reader = PusTcReader::new(&buf[9..]).unwrap().0;
|
||||
assert_eq!(pus_tc_reader, ping_tc);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_byte_conv_error() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 16] = [0; 16];
|
||||
let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
|
||||
assert!(result.is_err());
|
||||
let error = result.unwrap_err();
|
||||
if let ScheduleError::ByteConversionError(ByteConversionError::ToSliceTooSmall {
|
||||
found,
|
||||
expected,
|
||||
}) = error
|
||||
{
|
||||
assert_eq!(found, 16);
|
||||
assert_eq!(
|
||||
expected,
|
||||
2 + time_writer.len_written() + ping_tc.len_written()
|
||||
);
|
||||
} else {
|
||||
panic!("unexpected error {error}")
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_generic_insert_app_data_test_as_vec() {
|
||||
let time_writer = cds::TimeProvider::new_with_u16_days(1, 1);
|
||||
let mut sph = SpHeader::new(
|
||||
PacketId::const_new(PacketType::Tc, true, 0x002),
|
||||
PacketSequenceCtrl::const_new(SequenceFlags::Unsegmented, 5),
|
||||
0,
|
||||
);
|
||||
let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let ping_tc = PusTcCreator::new_no_app_data(&mut sph, sec_header, true);
|
||||
let mut buf: [u8; 64] = [0; 64];
|
||||
generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc).unwrap();
|
||||
let vec = generate_insert_telecommand_app_data_as_vec(&time_writer, &ping_tc)
|
||||
.expect("vec generation failed");
|
||||
assert_eq!(&buf[..vec.len()], vec);
|
||||
}
|
||||
}
|
||||
@ -1,7 +1,6 @@
|
||||
use super::scheduler::PusSchedulerProvider;
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::scheduler::PusSchedulerInterface;
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
use crate::pool::PoolProvider;
|
||||
use crate::pool::PoolProviderMemInPlace;
|
||||
use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
|
||||
use alloc::string::ToString;
|
||||
use spacepackets::ecss::{scheduling, PusPacket};
|
||||
@ -9,7 +8,7 @@ use spacepackets::time::cds::TimeProvider;
|
||||
|
||||
/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
|
||||
/// packets. This handler is able to handle the most important PUS requests for a scheduling
|
||||
/// service which provides the [PusSchedulerProvider].
|
||||
/// service which provides the [PusSchedulerInterface].
|
||||
///
|
||||
/// Please note that this class does not do the regular periodic handling like releasing any
|
||||
/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
|
||||
@ -17,23 +16,16 @@ use spacepackets::time::cds::TimeProvider;
|
||||
/// telecommands when applicable.
|
||||
pub struct PusService11SchedHandler<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
PusScheduler: PusSchedulerProvider,
|
||||
Scheduler: PusSchedulerInterface,
|
||||
> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
|
||||
scheduler: PusScheduler,
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
scheduler: Scheduler,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
Scheduler: PusSchedulerProvider,
|
||||
> PusService11SchedHandler<TcInMemConverter, VerificationReporter, Scheduler>
|
||||
impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
|
||||
PusService11SchedHandler<TcInMemConverter, Scheduler>
|
||||
{
|
||||
pub fn new(
|
||||
service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
|
||||
scheduler: Scheduler,
|
||||
) -> Self {
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
|
||||
Self {
|
||||
service_helper,
|
||||
scheduler,
|
||||
@ -50,7 +42,7 @@ impl<
|
||||
|
||||
pub fn handle_one_tc(
|
||||
&mut self,
|
||||
sched_tc_pool: &mut (impl PoolProvider + ?Sized),
|
||||
sched_tc_pool: &mut (impl PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
@ -70,16 +62,15 @@ impl<
|
||||
));
|
||||
}
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
|
||||
&mut partial_error,
|
||||
);
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match standard_subservice.unwrap() {
|
||||
scheduling::Subservice::TcEnableScheduling => {
|
||||
let start_token = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.enable();
|
||||
@ -87,7 +78,8 @@ impl<
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -100,7 +92,8 @@ impl<
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler.disable();
|
||||
@ -108,7 +101,8 @@ impl<
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
} else {
|
||||
return Err(PusPacketHandlingError::Other(
|
||||
@ -121,7 +115,8 @@ impl<
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("Error sending start success");
|
||||
|
||||
self.scheduler
|
||||
@ -131,7 +126,8 @@ impl<
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("Error sending completion success");
|
||||
}
|
||||
scheduling::Subservice::TcInsertActivity => {
|
||||
@ -139,7 +135,8 @@ impl<
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.expect("error sending start success");
|
||||
|
||||
// let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
|
||||
@ -150,7 +147,8 @@ impl<
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.expect("sending completion success failed");
|
||||
}
|
||||
_ => {
|
||||
@ -174,9 +172,8 @@ impl<
|
||||
mod tests {
|
||||
use crate::pool::{StaticMemoryPool, StaticPoolConfig};
|
||||
use crate::pus::tests::TEST_APID;
|
||||
use crate::pus::verification::VerificationReporterWithSender;
|
||||
use crate::pus::{
|
||||
scheduler::{self, PusSchedulerProvider, TcInfo},
|
||||
scheduler::{self, PusSchedulerInterface, TcInfo},
|
||||
tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
|
||||
verification::{RequestId, TcStateAccepted, VerificationToken},
|
||||
EcssTcInSharedStoreConverter,
|
||||
@ -197,18 +194,14 @@ mod tests {
|
||||
|
||||
struct Pus11HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler: PusService11SchedHandler<
|
||||
EcssTcInSharedStoreConverter,
|
||||
VerificationReporterWithSender,
|
||||
TestScheduler,
|
||||
>,
|
||||
handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
|
||||
sched_tc_pool: StaticMemoryPool,
|
||||
}
|
||||
|
||||
impl Pus11HandlerWithStoreTester {
|
||||
pub fn new() -> Self {
|
||||
let test_scheduler = TestScheduler::default();
|
||||
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
|
||||
let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
|
||||
Self {
|
||||
@ -239,12 +232,12 @@ mod tests {
|
||||
inserted_tcs: VecDeque<TcInfo>,
|
||||
}
|
||||
|
||||
impl PusSchedulerProvider for TestScheduler {
|
||||
impl PusSchedulerInterface for TestScheduler {
|
||||
type TimeProvider = cds::TimeProvider;
|
||||
|
||||
fn reset(
|
||||
&mut self,
|
||||
_store: &mut (impl crate::pool::PoolProvider + ?Sized),
|
||||
_store: &mut (impl crate::pool::PoolProviderMemInPlace + ?Sized),
|
||||
) -> Result<(), crate::pool::StoreError> {
|
||||
self.reset_count += 1;
|
||||
Ok(())
|
||||
@ -5,24 +5,16 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::ecss::PusPacket;
|
||||
use spacepackets::SpHeader;
|
||||
|
||||
use super::verification::VerificationReportingProvider;
|
||||
use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
|
||||
|
||||
/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
|
||||
/// This handler only processes ping requests and generates a ping reply for them accordingly.
|
||||
pub struct PusService17TestHandler<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
|
||||
pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcInMemConverter: EcssTcInMemConverter,
|
||||
VerificationReporter: VerificationReportingProvider,
|
||||
> PusService17TestHandler<TcInMemConverter, VerificationReporter>
|
||||
{
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>) -> Self {
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
|
||||
pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
|
||||
Self { service_helper }
|
||||
}
|
||||
|
||||
@ -41,15 +33,13 @@ impl<
|
||||
}
|
||||
if tc.subservice() == 1 {
|
||||
let mut partial_error = None;
|
||||
let time_stamp =
|
||||
PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
|
||||
&mut partial_error,
|
||||
);
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
let result = self
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.start_success(ecss_tc_and_token.token, &time_stamp)
|
||||
.get_mut()
|
||||
.start_success(ecss_tc_and_token.token, Some(&time_stamp))
|
||||
.map_err(|_| PartialPusHandlingError::Verification);
|
||||
let start_token = if let Ok(result) = result {
|
||||
Some(result)
|
||||
@ -77,7 +67,8 @@ impl<
|
||||
.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.completion_success(start_token, &time_stamp)
|
||||
.get_mut()
|
||||
.completion_success(start_token, Some(&time_stamp))
|
||||
.is_err()
|
||||
{
|
||||
partial_error = Some(PartialPusHandlingError::Verification)
|
||||
@ -104,7 +95,7 @@ mod tests {
|
||||
PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
|
||||
SimplePusPacketHandler, TEST_APID,
|
||||
};
|
||||
use crate::pus::verification::{RequestId, VerificationReporterWithSender};
|
||||
use crate::pus::verification::RequestId;
|
||||
use crate::pus::verification::{TcStateAccepted, VerificationToken};
|
||||
use crate::pus::{
|
||||
EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
|
||||
@ -120,8 +111,7 @@ mod tests {
|
||||
|
||||
struct Pus17HandlerWithStoreTester {
|
||||
common: PusServiceHandlerWithSharedStoreCommon,
|
||||
handler:
|
||||
PusService17TestHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
|
||||
handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithStoreTester {
|
||||
@ -158,14 +148,13 @@ mod tests {
|
||||
}
|
||||
|
||||
struct Pus17HandlerWithVecTester {
|
||||
common: PusServiceHandlerWithVecCommon<VerificationReporterWithSender>,
|
||||
handler: PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithSender>,
|
||||
common: PusServiceHandlerWithVecCommon,
|
||||
handler: PusService17TestHandler<EcssTcInVecConverter>,
|
||||
}
|
||||
|
||||
impl Pus17HandlerWithVecTester {
|
||||
pub fn new() -> Self {
|
||||
let (common, srv_handler) =
|
||||
PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter();
|
||||
let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
|
||||
Self {
|
||||
common,
|
||||
handler: PusService17TestHandler::new(srv_handler),
|
||||
@ -15,13 +15,11 @@
|
||||
//! ```
|
||||
//! use std::sync::{Arc, mpsc, RwLock};
|
||||
//! use std::time::Duration;
|
||||
//! use satrs::pool::{PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
//! use satrs::pus::verification::{
|
||||
//! VerificationReportingProvider, VerificationReporterCfg, VerificationReporterWithSender
|
||||
//! };
|
||||
//! use satrs::seq_count::SeqCountProviderSimple;
|
||||
//! use satrs::pus::MpscTmInSharedPoolSender;
|
||||
//! use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
//! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
|
||||
//! use satrs_core::seq_count::SeqCountProviderSimple;
|
||||
//! use satrs_core::pus::MpscTmInStoreSender;
|
||||
//! use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
//! use spacepackets::ecss::PusPacket;
|
||||
//! use spacepackets::SpHeader;
|
||||
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
@ -30,12 +28,12 @@
|
||||
//! const EMPTY_STAMP: [u8; 7] = [0; 7];
|
||||
//! const TEST_APID: u16 = 0x02;
|
||||
//!
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
|
||||
//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
//! let shared_tm_store = SharedTmPool::new(tm_pool);
|
||||
//! let shared_tm_store = SharedTmStore::new(tm_pool);
|
||||
//! let tm_store = shared_tm_store.clone_backing_pool();
|
||||
//! let (verif_tx, verif_rx) = mpsc::channel();
|
||||
//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
|
||||
//! let sender = MpscTmInStoreSender::new(0, "Test Sender", shared_tm_store, verif_tx);
|
||||
//! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
//! let mut reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
|
||||
//!
|
||||
@ -45,9 +43,9 @@
|
||||
//! let init_token = reporter.add_tc(&pus_tc_0);
|
||||
//!
|
||||
//! // Complete success sequence for a telecommand
|
||||
//! let accepted_token = reporter.acceptance_success(init_token, &EMPTY_STAMP).unwrap();
|
||||
//! let started_token = reporter.start_success(accepted_token, &EMPTY_STAMP).unwrap();
|
||||
//! reporter.completion_success(started_token, &EMPTY_STAMP).unwrap();
|
||||
//! let accepted_token = reporter.acceptance_success(init_token, Some(&EMPTY_STAMP)).unwrap();
|
||||
//! let started_token = reporter.start_success(accepted_token, Some(&EMPTY_STAMP)).unwrap();
|
||||
//! reporter.completion_success(started_token, Some(&EMPTY_STAMP)).unwrap();
|
||||
//!
|
||||
//! // Verify it arrives correctly on receiver end
|
||||
//! let mut tm_buf: [u8; 1024] = [0; 1024];
|
||||
@ -58,7 +56,9 @@
|
||||
//! {
|
||||
//! let mut rg = tm_store.write().expect("Error locking shared pool");
|
||||
//! let store_guard = rg.read_with_guard(addr);
|
||||
//! tm_len = store_guard.read(&mut tm_buf).expect("Error reading TM slice");
|
||||
//! let slice = store_guard.read().expect("Error reading TM slice");
|
||||
//! tm_len = slice.len();
|
||||
//! tm_buf[0..tm_len].copy_from_slice(slice);
|
||||
//! }
|
||||
//! let (pus_tm, _) = PusTmReader::new(&tm_buf[0..tm_len], 7)
|
||||
//! .expect("Error reading verification TM");
|
||||
@ -281,16 +281,16 @@ impl<STATE> VerificationToken<STATE> {
|
||||
|
||||
/// Composite helper struct to pass failure parameters to the [VerificationReporter]
|
||||
pub struct FailParams<'stamp, 'fargs> {
|
||||
time_stamp: &'stamp [u8],
|
||||
time_stamp: Option<&'stamp [u8]>,
|
||||
failure_code: &'fargs dyn EcssEnumeration,
|
||||
failure_data: &'fargs [u8],
|
||||
failure_data: Option<&'fargs [u8]>,
|
||||
}
|
||||
|
||||
impl<'stamp, 'fargs> FailParams<'stamp, 'fargs> {
|
||||
pub fn new(
|
||||
time_stamp: &'stamp [u8],
|
||||
time_stamp: Option<&'stamp [u8]>,
|
||||
failure_code: &'fargs impl EcssEnumeration,
|
||||
failure_data: &'fargs [u8],
|
||||
failure_data: Option<&'fargs [u8]>,
|
||||
) -> Self {
|
||||
Self {
|
||||
time_stamp,
|
||||
@ -298,13 +298,6 @@ impl<'stamp, 'fargs> FailParams<'stamp, 'fargs> {
|
||||
failure_data,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn new_no_fail_data(
|
||||
time_stamp: &'stamp [u8],
|
||||
failure_code: &'fargs impl EcssEnumeration,
|
||||
) -> Self {
|
||||
Self::new(time_stamp, failure_code, &[])
|
||||
}
|
||||
}
|
||||
|
||||
/// Composite helper struct to pass step failure parameters to the [VerificationReporter]
|
||||
@ -315,10 +308,10 @@ pub struct FailParamsWithStep<'stamp, 'fargs> {
|
||||
|
||||
impl<'stamp, 'fargs> FailParamsWithStep<'stamp, 'fargs> {
|
||||
pub fn new(
|
||||
time_stamp: &'stamp [u8],
|
||||
time_stamp: Option<&'stamp [u8]>,
|
||||
step: &'fargs impl EcssEnumeration,
|
||||
failure_code: &'fargs impl EcssEnumeration,
|
||||
failure_data: &'fargs [u8],
|
||||
failure_data: Option<&'fargs [u8]>,
|
||||
) -> Self {
|
||||
Self {
|
||||
bp: FailParams::new(time_stamp, failure_code, failure_data),
|
||||
@ -408,66 +401,6 @@ impl<'src_data, TcState: WasAtLeastAccepted + Copy>
|
||||
pub fn send_success_step_or_completion_success(self) {}
|
||||
}
|
||||
|
||||
pub trait VerificationReportingProvider {
|
||||
fn add_tc(
|
||||
&mut self,
|
||||
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
|
||||
) -> VerificationToken<TcStateNone> {
|
||||
self.add_tc_with_req_id(RequestId::new(pus_tc))
|
||||
}
|
||||
|
||||
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
|
||||
|
||||
fn acceptance_success(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>;
|
||||
|
||||
fn acceptance_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
params: FailParams,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>>;
|
||||
|
||||
fn start_success(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<VerificationToken<TcStateStarted>, VerificationOrSendErrorWithToken<TcStateAccepted>>;
|
||||
|
||||
fn start_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
params: FailParams,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>>;
|
||||
|
||||
fn step_success(
|
||||
&self,
|
||||
token: &VerificationToken<TcStateStarted>,
|
||||
time_stamp: &[u8],
|
||||
step: impl EcssEnumeration,
|
||||
) -> Result<(), EcssTmtcError>;
|
||||
|
||||
fn step_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateStarted>,
|
||||
params: FailParamsWithStep,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>>;
|
||||
|
||||
fn completion_success<TcState: WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
time_stamp: &[u8],
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcState>>;
|
||||
|
||||
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
params: FailParams,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcState>>;
|
||||
}
|
||||
|
||||
/// Primary verification handler. It provides an API to send PUS 1 verification telemetry packets
|
||||
/// and verify the various steps of telecommand handling as specified in the PUS standard.
|
||||
///
|
||||
@ -525,7 +458,7 @@ impl VerificationReporterCore {
|
||||
token: VerificationToken<State>,
|
||||
seq_count: u16,
|
||||
msg_count: u16,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
) -> Result<
|
||||
VerificationSendable<'src_data, State, VerifSuccess>,
|
||||
VerificationErrorWithToken<State>,
|
||||
@ -582,7 +515,7 @@ impl VerificationReporterCore {
|
||||
token: VerificationToken<TcStateNone>,
|
||||
seq_count: u16,
|
||||
msg_count: u16,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
) -> Result<
|
||||
VerificationSendable<'src_data, TcStateNone, VerifSuccess>,
|
||||
VerificationErrorWithToken<TcStateNone>,
|
||||
@ -653,7 +586,7 @@ impl VerificationReporterCore {
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
seq_count: u16,
|
||||
msg_count: u16,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
) -> Result<
|
||||
VerificationSendable<'src_data, TcStateAccepted, VerifSuccess>,
|
||||
VerificationErrorWithToken<TcStateAccepted>,
|
||||
@ -727,7 +660,7 @@ impl VerificationReporterCore {
|
||||
token: &VerificationToken<TcStateStarted>,
|
||||
seq_count: u16,
|
||||
msg_count: u16,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
step: impl EcssEnumeration,
|
||||
) -> Result<VerificationSendable<'src_data, TcStateStarted, VerifSuccess>, EcssTmtcError> {
|
||||
Ok(VerificationSendable::new_no_token(
|
||||
@ -783,7 +716,7 @@ impl VerificationReporterCore {
|
||||
token: VerificationToken<TcState>,
|
||||
seq_counter: u16,
|
||||
msg_counter: u16,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
) -> Result<
|
||||
VerificationSendable<'src_data, TcState, VerifSuccess>,
|
||||
VerificationErrorWithToken<TcState>,
|
||||
@ -857,7 +790,7 @@ impl VerificationReporterCore {
|
||||
seq_count: u16,
|
||||
msg_counter: u16,
|
||||
req_id: &RequestId,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
step: Option<&(impl EcssEnumeration + ?Sized)>,
|
||||
) -> Result<PusTmCreator<'src_data>, EcssTmtcError> {
|
||||
let mut source_data_len = size_of::<u32>();
|
||||
@ -901,7 +834,9 @@ impl VerificationReporterCore {
|
||||
if let Some(step) = step {
|
||||
source_data_len += step.size();
|
||||
}
|
||||
source_data_len += params.failure_data.len();
|
||||
if let Some(failure_data) = params.failure_data {
|
||||
source_data_len += failure_data.len();
|
||||
}
|
||||
source_buffer_large_enough(src_data_buf.len(), source_data_len)?;
|
||||
req_id.to_bytes(&mut src_data_buf[0..RequestId::SIZE_AS_BYTES]);
|
||||
idx += RequestId::SIZE_AS_BYTES;
|
||||
@ -916,7 +851,9 @@ impl VerificationReporterCore {
|
||||
.write_to_be_bytes(&mut src_data_buf[idx..idx + params.failure_code.size()])
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
idx += params.failure_code.size();
|
||||
src_data_buf[idx..idx + params.failure_data.len()].copy_from_slice(params.failure_data);
|
||||
if let Some(failure_data) = params.failure_data {
|
||||
src_data_buf[idx..idx + failure_data.len()].copy_from_slice(failure_data);
|
||||
}
|
||||
let mut sp_header = SpHeader::tm_unseg(self.apid(), seq_count, 0).unwrap();
|
||||
Ok(self.create_pus_verif_tm_base(
|
||||
src_data_buf,
|
||||
@ -934,11 +871,11 @@ impl VerificationReporterCore {
|
||||
subservice: u8,
|
||||
msg_counter: u16,
|
||||
sp_header: &mut SpHeader,
|
||||
time_stamp: &'src_data [u8],
|
||||
time_stamp: Option<&'src_data [u8]>,
|
||||
source_data_len: usize,
|
||||
) -> PusTmCreator<'src_data> {
|
||||
let tm_sec_header =
|
||||
PusTmSecondaryHeader::new(1, subservice, msg_counter, self.dest_id, Some(time_stamp));
|
||||
PusTmSecondaryHeader::new(1, subservice, msg_counter, self.dest_id, time_stamp);
|
||||
PusTmCreator::new(
|
||||
sp_header,
|
||||
tm_sec_header,
|
||||
@ -1035,7 +972,7 @@ mod alloc_mod {
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
|
||||
{
|
||||
let seq_count = self
|
||||
@ -1090,7 +1027,7 @@ mod alloc_mod {
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<
|
||||
VerificationToken<TcStateStarted>,
|
||||
VerificationOrSendErrorWithToken<TcStateAccepted>,
|
||||
@ -1150,7 +1087,7 @@ mod alloc_mod {
|
||||
&self,
|
||||
token: &VerificationToken<TcStateStarted>,
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
step: impl EcssEnumeration,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let seq_count = self
|
||||
@ -1213,7 +1150,7 @@ mod alloc_mod {
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
sender: &(impl EcssTmSenderCore + ?Sized),
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
|
||||
let seq_count = self
|
||||
.seq_count_provider
|
||||
@ -1291,34 +1228,24 @@ mod alloc_mod {
|
||||
to self.reporter {
|
||||
pub fn set_apid(&mut self, apid: u16) -> bool;
|
||||
pub fn apid(&self) -> u16;
|
||||
pub fn add_tc(&mut self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> VerificationToken<TcStateNone>;
|
||||
pub fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
|
||||
pub fn dest_id(&self) -> u16;
|
||||
pub fn set_dest_id(&mut self, dest_id: u16);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl VerificationReportingProvider for VerificationReporterWithSender {
|
||||
delegate! {
|
||||
to self.reporter {
|
||||
fn add_tc(
|
||||
&mut self,
|
||||
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
|
||||
) -> VerificationToken<TcStateNone>;
|
||||
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone>;
|
||||
}
|
||||
}
|
||||
|
||||
fn acceptance_success(
|
||||
pub fn acceptance_success(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
|
||||
{
|
||||
self.reporter
|
||||
.acceptance_success(token, self.sender.as_ref(), time_stamp)
|
||||
}
|
||||
|
||||
fn acceptance_failure(
|
||||
pub fn acceptance_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
params: FailParams,
|
||||
@ -1327,10 +1254,10 @@ mod alloc_mod {
|
||||
.acceptance_failure(token, self.sender.as_ref(), params)
|
||||
}
|
||||
|
||||
fn start_success(
|
||||
pub fn start_success(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<
|
||||
VerificationToken<TcStateStarted>,
|
||||
VerificationOrSendErrorWithToken<TcStateAccepted>,
|
||||
@ -1339,7 +1266,7 @@ mod alloc_mod {
|
||||
.start_success(token, self.sender.as_ref(), time_stamp)
|
||||
}
|
||||
|
||||
fn start_failure(
|
||||
pub fn start_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
params: FailParams,
|
||||
@ -1348,17 +1275,17 @@ mod alloc_mod {
|
||||
.start_failure(token, self.sender.as_ref(), params)
|
||||
}
|
||||
|
||||
fn step_success(
|
||||
pub fn step_success(
|
||||
&self,
|
||||
token: &VerificationToken<TcStateStarted>,
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
step: impl EcssEnumeration,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
self.reporter
|
||||
.step_success(token, self.sender.as_ref(), time_stamp, step)
|
||||
}
|
||||
|
||||
fn step_failure(
|
||||
pub fn step_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateStarted>,
|
||||
params: FailParamsWithStep,
|
||||
@ -1367,16 +1294,16 @@ mod alloc_mod {
|
||||
.step_failure(token, self.sender.as_ref(), params)
|
||||
}
|
||||
|
||||
fn completion_success<TcState: WasAtLeastAccepted + Copy>(
|
||||
pub fn completion_success<TcState: WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
time_stamp: &[u8],
|
||||
time_stamp: Option<&[u8]>,
|
||||
) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
|
||||
self.reporter
|
||||
.completion_success(token, self.sender.as_ref(), time_stamp)
|
||||
}
|
||||
|
||||
fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
|
||||
pub fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
params: FailParams,
|
||||
@ -1397,21 +1324,19 @@ mod std_mod {
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
pub mod tests {
|
||||
use crate::pool::{PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
mod tests {
|
||||
use crate::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
use crate::pus::tests::CommonTmInfo;
|
||||
use crate::pus::verification::{
|
||||
EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
|
||||
VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
VerificationToken,
|
||||
};
|
||||
use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
|
||||
use crate::tmtc::tm_helper::SharedTmPool;
|
||||
use crate::pus::{EcssChannel, MpscTmInStoreSender, PusTmWrapper};
|
||||
use crate::tmtc::tm_helper::SharedTmStore;
|
||||
use crate::ChannelId;
|
||||
use alloc::boxed::Box;
|
||||
use alloc::format;
|
||||
use alloc::sync::Arc;
|
||||
use hashbrown::HashMap;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU8, PusError, PusPacket};
|
||||
@ -1419,208 +1344,15 @@ pub mod tests {
|
||||
use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
|
||||
use std::cell::RefCell;
|
||||
use std::collections::VecDeque;
|
||||
use std::sync::{mpsc, Mutex};
|
||||
use std::sync::mpsc;
|
||||
use std::time::Duration;
|
||||
use std::vec;
|
||||
use std::vec::Vec;
|
||||
|
||||
use super::VerificationReportingProvider;
|
||||
|
||||
fn is_send<T: Send>(_: &T) {}
|
||||
#[allow(dead_code)]
|
||||
fn is_sync<T: Sync>(_: &T) {}
|
||||
|
||||
pub struct VerificationStatus {
|
||||
pub accepted: Option<bool>,
|
||||
pub started: Option<bool>,
|
||||
pub step: u64,
|
||||
pub step_status: Option<bool>,
|
||||
pub completed: Option<bool>,
|
||||
pub failure_data: Option<Vec<u8>>,
|
||||
pub fail_enum: Option<u64>,
|
||||
}
|
||||
|
||||
pub type SharedVerificationMap = Arc<Mutex<RefCell<HashMap<RequestId, VerificationStatus>>>>;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct TestVerificationReporter {
|
||||
pub verification_map: SharedVerificationMap,
|
||||
}
|
||||
|
||||
impl TestVerificationReporter {
|
||||
pub fn new(verification_map: SharedVerificationMap) -> Self {
|
||||
Self { verification_map }
|
||||
}
|
||||
}
|
||||
|
||||
impl VerificationReportingProvider for TestVerificationReporter {
|
||||
fn add_tc_with_req_id(&mut self, req_id: RequestId) -> VerificationToken<TcStateNone> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
verif_map.borrow_mut().insert(
|
||||
req_id,
|
||||
VerificationStatus {
|
||||
accepted: None,
|
||||
started: None,
|
||||
step: 0,
|
||||
step_status: None,
|
||||
completed: None,
|
||||
failure_data: None,
|
||||
fail_enum: None,
|
||||
},
|
||||
);
|
||||
VerificationToken {
|
||||
state: core::marker::PhantomData,
|
||||
req_id,
|
||||
}
|
||||
}
|
||||
|
||||
fn acceptance_success(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
_time_stamp: &[u8],
|
||||
) -> Result<
|
||||
VerificationToken<super::TcStateAccepted>,
|
||||
super::VerificationOrSendErrorWithToken<TcStateNone>,
|
||||
> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => entry.accepted = Some(true),
|
||||
None => panic!(
|
||||
"unexpected acceptance success for request ID {}",
|
||||
token.req_id()
|
||||
),
|
||||
};
|
||||
Ok(VerificationToken {
|
||||
state: core::marker::PhantomData,
|
||||
req_id: token.req_id,
|
||||
})
|
||||
}
|
||||
|
||||
fn acceptance_failure(
|
||||
&self,
|
||||
token: VerificationToken<TcStateNone>,
|
||||
params: FailParams,
|
||||
) -> Result<(), super::VerificationOrSendErrorWithToken<TcStateNone>> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => {
|
||||
entry.accepted = Some(false);
|
||||
entry.failure_data = Some(params.failure_data.to_vec());
|
||||
entry.fail_enum = Some(params.failure_code.value());
|
||||
}
|
||||
None => panic!(
|
||||
"unexpected acceptance failure for request ID {}",
|
||||
token.req_id()
|
||||
),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn start_success(
|
||||
&self,
|
||||
token: VerificationToken<super::TcStateAccepted>,
|
||||
_time_stamp: &[u8],
|
||||
) -> Result<
|
||||
VerificationToken<super::TcStateStarted>,
|
||||
super::VerificationOrSendErrorWithToken<super::TcStateAccepted>,
|
||||
> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => entry.started = Some(true),
|
||||
None => panic!("unexpected start success for request ID {}", token.req_id()),
|
||||
};
|
||||
Ok(VerificationToken {
|
||||
state: core::marker::PhantomData,
|
||||
req_id: token.req_id,
|
||||
})
|
||||
}
|
||||
|
||||
fn start_failure(
|
||||
&self,
|
||||
token: VerificationToken<super::TcStateAccepted>,
|
||||
params: FailParams,
|
||||
) -> Result<(), super::VerificationOrSendErrorWithToken<super::TcStateAccepted>> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => {
|
||||
entry.started = Some(false);
|
||||
entry.failure_data = Some(params.failure_data.to_vec());
|
||||
entry.fail_enum = Some(params.failure_code.value());
|
||||
}
|
||||
None => panic!("unexpected start failure for request ID {}", token.req_id()),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn step_success(
|
||||
&self,
|
||||
token: &VerificationToken<super::TcStateStarted>,
|
||||
_time_stamp: &[u8],
|
||||
step: impl spacepackets::ecss::EcssEnumeration,
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => {
|
||||
entry.step = step.value();
|
||||
entry.step_status = Some(true);
|
||||
}
|
||||
None => panic!("unexpected start success for request ID {}", token.req_id()),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn step_failure(
|
||||
&self,
|
||||
token: VerificationToken<super::TcStateStarted>,
|
||||
_params: FailParamsWithStep,
|
||||
) -> Result<(), super::VerificationOrSendErrorWithToken<super::TcStateStarted>> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => {
|
||||
entry.step_status = Some(false);
|
||||
}
|
||||
None => panic!("unexpected start success for request ID {}", token.req_id()),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn completion_success<TcState: super::WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
_time_stamp: &[u8],
|
||||
) -> Result<(), super::VerificationOrSendErrorWithToken<TcState>> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => entry.completed = Some(true),
|
||||
None => panic!(
|
||||
"unexpected acceptance success for request ID {}",
|
||||
token.req_id()
|
||||
),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn completion_failure<TcState: super::WasAtLeastAccepted + Copy>(
|
||||
&self,
|
||||
token: VerificationToken<TcState>,
|
||||
params: FailParams,
|
||||
) -> Result<(), super::VerificationOrSendErrorWithToken<TcState>> {
|
||||
let verif_map = self.verification_map.lock().unwrap();
|
||||
match verif_map.borrow_mut().get_mut(&token.req_id) {
|
||||
Some(entry) => {
|
||||
entry.completed = Some(false);
|
||||
entry.failure_data = Some(params.failure_data.to_vec());
|
||||
entry.fail_enum = Some(params.failure_code.value());
|
||||
}
|
||||
None => panic!(
|
||||
"unexpected acceptance success for request ID {}",
|
||||
token.req_id()
|
||||
),
|
||||
};
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
const TEST_APID: u16 = 0x02;
|
||||
const EMPTY_STAMP: [u8; 7] = [0; 7];
|
||||
|
||||
@ -1754,11 +1486,10 @@ pub mod tests {
|
||||
|
||||
#[test]
|
||||
fn test_mpsc_verif_send_sync() {
|
||||
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)], false));
|
||||
let shared_tm_store = SharedTmPool::new(pool);
|
||||
let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
|
||||
let shared_tm_store = SharedTmStore::new(pool);
|
||||
let (tx, _) = mpsc::channel();
|
||||
let mpsc_verif_sender =
|
||||
MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
|
||||
let mpsc_verif_sender = MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store, tx);
|
||||
is_send(&mpsc_verif_sender);
|
||||
}
|
||||
|
||||
@ -1774,7 +1505,7 @@ pub mod tests {
|
||||
fn test_basic_acceptance_success() {
|
||||
let (b, tok) = base_init(false);
|
||||
let mut sender = TestSender::default();
|
||||
b.vr.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
b.vr.acceptance_success(tok, &sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
acceptance_check(&mut sender, &tok.req_id);
|
||||
}
|
||||
@ -1783,7 +1514,7 @@ pub mod tests {
|
||||
fn test_basic_acceptance_success_with_helper() {
|
||||
let (mut b, tok) = base_with_helper_init();
|
||||
b.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
acceptance_check(sender, &tok.req_id);
|
||||
@ -1814,8 +1545,8 @@ pub mod tests {
|
||||
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
|
||||
let mut sender = TestSender::default();
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let fail_params = FailParams::new_no_fail_data(stamp_buf.as_slice(), &fail_code);
|
||||
b.vr.acceptance_failure(tok, &sender, fail_params)
|
||||
let fail_params = FailParams::new(Some(stamp_buf.as_slice()), &fail_code, None);
|
||||
b.vr.acceptance_failure(tok, &mut sender, fail_params)
|
||||
.expect("Sending acceptance success failed");
|
||||
acceptance_fail_check(&mut sender, tok.req_id, stamp_buf);
|
||||
}
|
||||
@ -1826,7 +1557,7 @@ pub mod tests {
|
||||
b.rep().reporter.dest_id = 5;
|
||||
let stamp_buf = [1, 2, 3, 4, 5, 6, 7];
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let fail_params = FailParams::new_no_fail_data(stamp_buf.as_slice(), &fail_code);
|
||||
let fail_params = FailParams::new(Some(stamp_buf.as_slice()), &fail_code, None);
|
||||
b.helper
|
||||
.acceptance_failure(tok, fail_params)
|
||||
.expect("Sending acceptance success failed");
|
||||
@ -1843,7 +1574,11 @@ pub mod tests {
|
||||
let fail_data: [u8; 16] = [0; 16];
|
||||
// 4 req ID + 1 byte step + 2 byte error code + 8 byte fail data
|
||||
assert_eq!(b.rep().allowed_source_data_len(), 15);
|
||||
let fail_params = FailParams::new(stamp_buf.as_slice(), &fail_code, fail_data.as_slice());
|
||||
let fail_params = FailParams::new(
|
||||
Some(stamp_buf.as_slice()),
|
||||
&fail_code,
|
||||
Some(fail_data.as_slice()),
|
||||
);
|
||||
let res = b.helper.acceptance_failure(tok, fail_params);
|
||||
assert!(res.is_err());
|
||||
let err_with_token = res.unwrap_err();
|
||||
@ -1875,7 +1610,11 @@ pub mod tests {
|
||||
let fail_data = EcssEnumU32::new(12);
|
||||
let mut fail_data_raw = [0; 4];
|
||||
fail_data.write_to_be_bytes(&mut fail_data_raw).unwrap();
|
||||
let fail_params = FailParams::new(&EMPTY_STAMP, &fail_code, fail_data_raw.as_slice());
|
||||
let fail_params = FailParams::new(
|
||||
Some(&EMPTY_STAMP),
|
||||
&fail_code,
|
||||
Some(fail_data_raw.as_slice()),
|
||||
);
|
||||
b.vr.acceptance_failure(tok, &sender, fail_params)
|
||||
.expect("Sending acceptance success failed");
|
||||
let cmp_info = TmInfo {
|
||||
@ -1935,13 +1674,19 @@ pub mod tests {
|
||||
let fail_data: i32 = -12;
|
||||
let mut fail_data_raw = [0; 4];
|
||||
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
|
||||
let fail_params = FailParams::new(&EMPTY_STAMP, &fail_code, fail_data_raw.as_slice());
|
||||
let fail_params = FailParams::new(
|
||||
Some(&EMPTY_STAMP),
|
||||
&fail_code,
|
||||
Some(fail_data_raw.as_slice()),
|
||||
);
|
||||
|
||||
let accepted_token =
|
||||
b.vr.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
b.vr.start_failure(accepted_token, &sender, fail_params)
|
||||
.expect("Start failure failure");
|
||||
let empty =
|
||||
b.vr.start_failure(accepted_token, &mut sender, fail_params)
|
||||
.expect("Start failure failure");
|
||||
assert_eq!(empty, ());
|
||||
start_fail_check(&mut sender, tok.req_id, fail_data_raw);
|
||||
}
|
||||
|
||||
@ -1952,15 +1697,21 @@ pub mod tests {
|
||||
let fail_data: i32 = -12;
|
||||
let mut fail_data_raw = [0; 4];
|
||||
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
|
||||
let fail_params = FailParams::new(&EMPTY_STAMP, &fail_code, fail_data_raw.as_slice());
|
||||
let fail_params = FailParams::new(
|
||||
Some(&EMPTY_STAMP),
|
||||
&fail_code,
|
||||
Some(fail_data_raw.as_slice()),
|
||||
);
|
||||
|
||||
let accepted_token = b
|
||||
.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
b.helper
|
||||
let empty = b
|
||||
.helper
|
||||
.start_failure(accepted_token, fail_params)
|
||||
.expect("Start failure failure");
|
||||
assert_eq!(empty, ());
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
start_fail_check(sender, tok.req_id, fail_data_raw);
|
||||
}
|
||||
@ -2027,17 +1778,27 @@ pub mod tests {
|
||||
let mut sender = TestSender::default();
|
||||
let accepted_token = b
|
||||
.rep()
|
||||
.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token = b
|
||||
.rep()
|
||||
.start_success(accepted_token, &sender, &[0, 1, 0, 1, 0, 1, 0])
|
||||
.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.rep()
|
||||
.step_success(&started_token, &sender, &EMPTY_STAMP, EcssEnumU8::new(0))
|
||||
.step_success(
|
||||
&started_token,
|
||||
&mut sender,
|
||||
Some(&EMPTY_STAMP),
|
||||
EcssEnumU8::new(0),
|
||||
)
|
||||
.expect("Sending step 0 success failed");
|
||||
b.vr.step_success(&started_token, &sender, &EMPTY_STAMP, EcssEnumU8::new(1))
|
||||
.expect("Sending step 1 success failed");
|
||||
b.vr.step_success(
|
||||
&started_token,
|
||||
&mut sender,
|
||||
Some(&EMPTY_STAMP),
|
||||
EcssEnumU8::new(1),
|
||||
)
|
||||
.expect("Sending step 1 success failed");
|
||||
assert_eq!(sender.service_queue.borrow().len(), 4);
|
||||
step_success_check(&mut sender, tok.req_id);
|
||||
}
|
||||
@ -2047,17 +1808,17 @@ pub mod tests {
|
||||
let (mut b, tok) = base_with_helper_init();
|
||||
let accepted_token = b
|
||||
.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token = b
|
||||
.helper
|
||||
.start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
|
||||
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.helper
|
||||
.step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(0))
|
||||
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
|
||||
.expect("Sending step 0 success failed");
|
||||
b.helper
|
||||
.step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(1))
|
||||
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(1))
|
||||
.expect("Sending step 1 success failed");
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
assert_eq!(sender.service_queue.borrow().len(), 4);
|
||||
@ -2142,22 +1903,31 @@ pub mod tests {
|
||||
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
|
||||
let fail_step = EcssEnumU8::new(1);
|
||||
let fail_params = FailParamsWithStep::new(
|
||||
&EMPTY_STAMP,
|
||||
Some(&EMPTY_STAMP),
|
||||
&fail_step,
|
||||
&fail_code,
|
||||
fail_data_raw.as_slice(),
|
||||
Some(fail_data_raw.as_slice()),
|
||||
);
|
||||
|
||||
let accepted_token =
|
||||
b.vr.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token =
|
||||
b.vr.start_success(accepted_token, &sender, &[0, 1, 0, 1, 0, 1, 0])
|
||||
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.vr.step_success(&started_token, &sender, &EMPTY_STAMP, EcssEnumU8::new(0))
|
||||
let mut empty =
|
||||
b.vr.step_success(
|
||||
&started_token,
|
||||
&mut sender,
|
||||
Some(&EMPTY_STAMP),
|
||||
EcssEnumU8::new(0),
|
||||
)
|
||||
.expect("Sending completion success failed");
|
||||
b.vr.step_failure(started_token, &sender, fail_params)
|
||||
.expect("Step failure failed");
|
||||
assert_eq!(empty, ());
|
||||
empty =
|
||||
b.vr.step_failure(started_token, &mut sender, fail_params)
|
||||
.expect("Step failure failed");
|
||||
assert_eq!(empty, ());
|
||||
check_step_failure(&mut sender, req_id, fail_data_raw);
|
||||
}
|
||||
|
||||
@ -2171,26 +1941,30 @@ pub mod tests {
|
||||
fail_data_raw.copy_from_slice(fail_data.to_be_bytes().as_slice());
|
||||
let fail_step = EcssEnumU8::new(1);
|
||||
let fail_params = FailParamsWithStep::new(
|
||||
&EMPTY_STAMP,
|
||||
Some(&EMPTY_STAMP),
|
||||
&fail_step,
|
||||
&fail_code,
|
||||
fail_data_raw.as_slice(),
|
||||
Some(fail_data_raw.as_slice()),
|
||||
);
|
||||
|
||||
let accepted_token = b
|
||||
.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token = b
|
||||
.helper
|
||||
.start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
|
||||
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.helper
|
||||
.step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(0))
|
||||
let mut empty = b
|
||||
.helper
|
||||
.step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
|
||||
.expect("Sending completion success failed");
|
||||
b.helper
|
||||
assert_eq!(empty, ());
|
||||
empty = b
|
||||
.helper
|
||||
.step_failure(started_token, fail_params)
|
||||
.expect("Step failure failed");
|
||||
assert_eq!(empty, ());
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
check_step_failure(sender, req_id, fail_data_raw);
|
||||
}
|
||||
@ -2247,16 +2021,18 @@ pub mod tests {
|
||||
let mut sender = TestSender::default();
|
||||
let req_id = tok.req_id;
|
||||
let fail_code = EcssEnumU32::new(0x1020);
|
||||
let fail_params = FailParams::new_no_fail_data(&EMPTY_STAMP, &fail_code);
|
||||
let fail_params = FailParams::new(Some(&EMPTY_STAMP), &fail_code, None);
|
||||
|
||||
let accepted_token =
|
||||
b.vr.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token =
|
||||
b.vr.start_success(accepted_token, &sender, &[0, 1, 0, 1, 0, 1, 0])
|
||||
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.vr.completion_failure(started_token, &sender, fail_params)
|
||||
.expect("Completion failure");
|
||||
let empty =
|
||||
b.vr.completion_failure(started_token, &mut sender, fail_params)
|
||||
.expect("Completion failure");
|
||||
assert_eq!(empty, ());
|
||||
completion_fail_check(&mut sender, req_id);
|
||||
}
|
||||
|
||||
@ -2265,19 +2041,21 @@ pub mod tests {
|
||||
let (mut b, tok) = base_with_helper_init();
|
||||
let req_id = tok.req_id;
|
||||
let fail_code = EcssEnumU32::new(0x1020);
|
||||
let fail_params = FailParams::new_no_fail_data(&EMPTY_STAMP, &fail_code);
|
||||
let fail_params = FailParams::new(Some(&EMPTY_STAMP), &fail_code, None);
|
||||
|
||||
let accepted_token = b
|
||||
.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token = b
|
||||
.helper
|
||||
.start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
|
||||
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.helper
|
||||
let empty = b
|
||||
.helper
|
||||
.completion_failure(started_token, fail_params)
|
||||
.expect("Completion failure");
|
||||
assert_eq!(empty, ());
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
completion_fail_check(sender, req_id);
|
||||
}
|
||||
@ -2331,12 +2109,12 @@ pub mod tests {
|
||||
let (b, tok) = base_init(false);
|
||||
let mut sender = TestSender::default();
|
||||
let accepted_token =
|
||||
b.vr.acceptance_success(tok, &sender, &EMPTY_STAMP)
|
||||
b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token =
|
||||
b.vr.start_success(accepted_token, &sender, &[0, 1, 0, 1, 0, 1, 0])
|
||||
b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.vr.completion_success(started_token, &sender, &EMPTY_STAMP)
|
||||
b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
|
||||
.expect("Sending completion success failed");
|
||||
completion_success_check(&mut sender, tok.req_id);
|
||||
}
|
||||
@ -2346,29 +2124,28 @@ pub mod tests {
|
||||
let (mut b, tok) = base_with_helper_init();
|
||||
let accepted_token = b
|
||||
.helper
|
||||
.acceptance_success(tok, &EMPTY_STAMP)
|
||||
.acceptance_success(tok, Some(&EMPTY_STAMP))
|
||||
.expect("Sending acceptance success failed");
|
||||
let started_token = b
|
||||
.helper
|
||||
.start_success(accepted_token, &[0, 1, 0, 1, 0, 1, 0])
|
||||
.start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
|
||||
.expect("Sending start success failed");
|
||||
b.helper
|
||||
.completion_success(started_token, &EMPTY_STAMP)
|
||||
.completion_success(started_token, Some(&EMPTY_STAMP))
|
||||
.expect("Sending completion success failed");
|
||||
let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
|
||||
completion_success_check(sender, tok.req_id);
|
||||
}
|
||||
|
||||
#[test]
|
||||
// TODO: maybe a bit more extensive testing, all I have time for right now
|
||||
fn test_seq_count_increment() {
|
||||
let pool_cfg =
|
||||
StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
|
||||
let shared_tm_store = SharedTmPool::new(tm_pool);
|
||||
let shared_tm_store = SharedTmStore::new(tm_pool);
|
||||
let shared_tm_pool = shared_tm_store.clone_backing_pool();
|
||||
let (verif_tx, verif_rx) = mpsc::channel();
|
||||
let sender =
|
||||
MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
|
||||
let sender = MpscTmInStoreSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
|
||||
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
|
||||
|
||||
@ -2379,13 +2156,13 @@ pub mod tests {
|
||||
|
||||
// Complete success sequence for a telecommand
|
||||
let accepted_token = reporter
|
||||
.acceptance_success(init_token, &EMPTY_STAMP)
|
||||
.acceptance_success(init_token, Some(&EMPTY_STAMP))
|
||||
.unwrap();
|
||||
let started_token = reporter
|
||||
.start_success(accepted_token, &EMPTY_STAMP)
|
||||
.start_success(accepted_token, Some(&EMPTY_STAMP))
|
||||
.unwrap();
|
||||
reporter
|
||||
.completion_success(started_token, &EMPTY_STAMP)
|
||||
.completion_success(started_token, Some(&EMPTY_STAMP))
|
||||
.unwrap();
|
||||
|
||||
// Verify it arrives correctly on receiver end
|
||||
@ -2397,9 +2174,9 @@ pub mod tests {
|
||||
{
|
||||
let mut rg = shared_tm_pool.write().expect("Error locking shared pool");
|
||||
let store_guard = rg.read_with_guard(addr);
|
||||
tm_len = store_guard
|
||||
.read(&mut tm_buf)
|
||||
.expect("Error reading TM slice");
|
||||
let slice = store_guard.read().expect("Error reading TM slice");
|
||||
tm_len = slice.len();
|
||||
tm_buf[0..tm_len].copy_from_slice(slice);
|
||||
}
|
||||
let (pus_tm, _) =
|
||||
PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
|
||||
1
satrs-core/src/request.rs
Normal file
1
satrs-core/src/request.rs
Normal file
@ -0,0 +1 @@
|
||||
|
||||
@ -4,7 +4,6 @@ use spacepackets::ecss::{EcssEnumU16, EcssEnumeration};
|
||||
use spacepackets::util::UnsignedEnum;
|
||||
use spacepackets::ByteConversionError;
|
||||
|
||||
/// Simple [u16] based result code type which also allows to group related resultcodes.
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
|
||||
pub struct ResultU16 {
|
||||
@ -13,7 +12,7 @@ pub struct ResultU16 {
|
||||
}
|
||||
|
||||
impl ResultU16 {
|
||||
pub const fn new(group_id: u8, unique_id: u8) -> Self {
|
||||
pub const fn const_new(group_id: u8, unique_id: u8) -> Self {
|
||||
Self {
|
||||
group_id,
|
||||
unique_id,
|
||||
@ -52,10 +51,6 @@ impl UnsignedEnum for ResultU16 {
|
||||
buf[1] = self.unique_id;
|
||||
Ok(self.size())
|
||||
}
|
||||
|
||||
fn value(&self) -> u64 {
|
||||
self.raw() as u64
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssEnumeration for ResultU16 {
|
||||
@ -63,26 +58,3 @@ impl EcssEnumeration for ResultU16 {
|
||||
16
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
const RESULT_CODE_CONST: ResultU16 = ResultU16::new(1, 1);
|
||||
|
||||
#[test]
|
||||
pub fn test_basic() {
|
||||
let result_code = ResultU16::new(1, 1);
|
||||
assert_eq!(result_code.unique_id(), 1);
|
||||
assert_eq!(result_code.group_id(), 1);
|
||||
assert_eq!(result_code, RESULT_CODE_CONST);
|
||||
assert_eq!(result_code.raw(), (1_u16 << 8) | 1);
|
||||
assert_eq!(result_code.pfc(), 16);
|
||||
assert_eq!(result_code.size(), 2);
|
||||
let mut buf: [u8; 2] = [0; 2];
|
||||
let written = result_code.write_to_be_bytes(&mut buf).unwrap();
|
||||
assert_eq!(written, 2);
|
||||
assert_eq!(buf[0], 1);
|
||||
assert_eq!(buf[1], 1);
|
||||
}
|
||||
}
|
||||
@ -18,8 +18,8 @@
|
||||
//! # Example
|
||||
//!
|
||||
//! ```rust
|
||||
//! use satrs::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
|
||||
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use satrs_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
|
||||
//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::{CcsdsPacket, SpHeader};
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
|
||||
@ -20,6 +20,8 @@ pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
|
||||
pub type TargetId = u32;
|
||||
|
||||
/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
|
||||
/// no assumptions about the received protocol.
|
||||
///
|
||||
@ -19,8 +19,8 @@
|
||||
//!
|
||||
//! ```rust
|
||||
//! use spacepackets::ecss::WritablePusPacket;
|
||||
//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
//! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use satrs_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
|
||||
//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
|
||||
//! use spacepackets::SpHeader;
|
||||
//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
|
||||
//! struct ConcretePusHandler {
|
||||
@ -8,38 +8,39 @@ pub use std_mod::*;
|
||||
|
||||
#[cfg(feature = "std")]
|
||||
pub mod std_mod {
|
||||
use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr};
|
||||
use crate::pool::{
|
||||
PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr,
|
||||
};
|
||||
use crate::pus::EcssTmtcError;
|
||||
use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::WritablePusPacket;
|
||||
use std::sync::{Arc, RwLock};
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct SharedTmPool(pub SharedStaticMemoryPool);
|
||||
pub struct SharedTmStore {
|
||||
pub shared_pool: SharedStaticMemoryPool,
|
||||
}
|
||||
|
||||
impl SharedTmPool {
|
||||
impl SharedTmStore {
|
||||
pub fn new(shared_pool: StaticMemoryPool) -> Self {
|
||||
Self(Arc::new(RwLock::new(shared_pool)))
|
||||
Self {
|
||||
shared_pool: Arc::new(RwLock::new(shared_pool)),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
|
||||
self.0.clone()
|
||||
}
|
||||
pub fn shared_pool(&self) -> &SharedStaticMemoryPool {
|
||||
&self.0
|
||||
}
|
||||
|
||||
pub fn shared_pool_mut(&mut self) -> &mut SharedStaticMemoryPool {
|
||||
&mut self.0
|
||||
self.shared_pool.clone()
|
||||
}
|
||||
|
||||
pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
|
||||
let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
|
||||
let addr = pg.free_element(pus_tm.len_written(), |buf| {
|
||||
pus_tm
|
||||
.write_to_bytes(buf)
|
||||
.expect("writing PUS TM to store failed");
|
||||
})?;
|
||||
let mut pg = self
|
||||
.shared_pool
|
||||
.write()
|
||||
.map_err(|_| EcssTmtcError::StoreLock)?;
|
||||
let (addr, buf) = pg.free_element(pus_tm.len_written())?;
|
||||
pus_tm
|
||||
.write_to_bytes(buf)
|
||||
.expect("writing PUS TM to store failed");
|
||||
Ok(addr)
|
||||
}
|
||||
}
|
||||
@ -1,4 +1,6 @@
|
||||
use satrs::pool::{PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig, StoreAddr};
|
||||
use satrs_core::pool::{
|
||||
PoolGuard, PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig, StoreAddr,
|
||||
};
|
||||
use std::ops::DerefMut;
|
||||
use std::sync::mpsc;
|
||||
use std::sync::mpsc::{Receiver, Sender};
|
||||
@ -9,7 +11,7 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
|
||||
|
||||
#[test]
|
||||
fn threaded_usage() {
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
|
||||
let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
|
||||
let shared_clone = shared_pool.clone();
|
||||
let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
|
||||
@ -25,10 +27,8 @@ fn threaded_usage() {
|
||||
addr = rx.recv().expect("Receiving store address failed");
|
||||
let mut pool_access = shared_clone.write().unwrap();
|
||||
let pg = PoolGuard::new(pool_access.deref_mut(), addr);
|
||||
let mut read_buf: [u8; 4] = [0; 4];
|
||||
let read_bytes = pg.read(&mut read_buf).expect("Reading failed");
|
||||
assert_eq!(read_buf, DUMMY_DATA);
|
||||
assert_eq!(read_bytes, 4);
|
||||
let read_res = pg.read().expect("Reading failed");
|
||||
assert_eq!(read_res, DUMMY_DATA);
|
||||
}
|
||||
let pool_access = shared_clone.read().unwrap();
|
||||
assert!(!pool_access.has_element_at(&addr).expect("Invalid address"));
|
||||
@ -1,6 +1,6 @@
|
||||
#![allow(dead_code, unused_imports)]
|
||||
|
||||
use satrs::events::{
|
||||
use satrs_core::events::{
|
||||
EventU32, EventU32TypedSev, GenericEvent, HasSeverity, LargestEventRaw, LargestGroupIdRaw,
|
||||
Severity, SeverityInfo, SeverityLow, SeverityMedium,
|
||||
};
|
||||
@ -1,11 +1,13 @@
|
||||
use satrs::event_man::{
|
||||
use satrs_core::event_man::{
|
||||
EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
|
||||
};
|
||||
use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs::params::U32Pair;
|
||||
use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
|
||||
use satrs::pus::MpscTmAsVecSender;
|
||||
use satrs_core::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
|
||||
use satrs_core::params::U32Pair;
|
||||
use satrs_core::params::{Params, ParamsHeapless, WritableToBeBytes};
|
||||
use satrs_core::pus::event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher,
|
||||
};
|
||||
use satrs_core::pus::MpscTmAsVecSender;
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{PusError, PusPacket};
|
||||
use std::sync::mpsc::{channel, SendError, TryRecvError};
|
||||
@ -1,13 +1,15 @@
|
||||
#[cfg(feature = "crossbeam")]
|
||||
pub mod crossbeam_test {
|
||||
use hashbrown::HashMap;
|
||||
use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
VerificationReportingProvider,
|
||||
use satrs_core::pool::{
|
||||
PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, StaticMemoryPool,
|
||||
StaticPoolConfig,
|
||||
};
|
||||
use satrs::pus::CrossbeamTmInStoreSender;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs_core::pus::verification::{
|
||||
FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
|
||||
};
|
||||
use satrs_core::pus::CrossbeamTmInStoreSender;
|
||||
use satrs_core::tmtc::tm_helper::SharedTmStore;
|
||||
use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
|
||||
use spacepackets::ecss::tm::PusTmReader;
|
||||
use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
|
||||
@ -34,14 +36,13 @@ pub mod crossbeam_test {
|
||||
// each reporter have an own sequence count provider.
|
||||
let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
|
||||
// Shared pool object to store the verification PUS telemetry
|
||||
let pool_cfg =
|
||||
StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
|
||||
let shared_tm_pool = SharedTmPool::new(StaticMemoryPool::new(pool_cfg.clone()));
|
||||
let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
|
||||
let shared_tm_store = SharedTmStore::new(StaticMemoryPool::new(pool_cfg.clone()));
|
||||
let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
|
||||
let shared_tc_pool_1 = shared_tc_pool_0.clone();
|
||||
let (tx, rx) = crossbeam_channel::bounded(10);
|
||||
let sender =
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
|
||||
CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tx.clone());
|
||||
let mut reporter_with_sender_0 =
|
||||
VerificationReporterWithSender::new(&cfg, Box::new(sender));
|
||||
let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
|
||||
@ -58,21 +59,15 @@ pub mod crossbeam_test {
|
||||
let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
|
||||
let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
|
||||
req_id_0 = RequestId::new(&pus_tc_0);
|
||||
let addr = tc_guard
|
||||
.free_element(pus_tc_0.len_written(), |buf| {
|
||||
pus_tc_0.write_to_bytes(buf).unwrap();
|
||||
})
|
||||
.unwrap();
|
||||
let (addr, buf) = tc_guard.free_element(pus_tc_0.len_written()).unwrap();
|
||||
pus_tc_0.write_to_bytes(buf).unwrap();
|
||||
tx_tc_0.send(addr).unwrap();
|
||||
let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
|
||||
let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
|
||||
let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
|
||||
req_id_1 = RequestId::new(&pus_tc_1);
|
||||
let addr = tc_guard
|
||||
.free_element(pus_tc_0.len_written(), |buf| {
|
||||
pus_tc_1.write_to_bytes(buf).unwrap();
|
||||
})
|
||||
.unwrap();
|
||||
let (addr, buf) = tc_guard.free_element(pus_tc_0.len_written()).unwrap();
|
||||
pus_tc_1.write_to_bytes(buf).unwrap();
|
||||
tx_tc_1.send(addr).unwrap();
|
||||
}
|
||||
let verif_sender_0 = thread::spawn(move || {
|
||||
@ -84,30 +79,32 @@ pub mod crossbeam_test {
|
||||
{
|
||||
let mut tc_guard = shared_tc_pool_0.write().unwrap();
|
||||
let pg = tc_guard.read_with_guard(tc_addr);
|
||||
tc_len = pg.read(&mut tc_buf).unwrap();
|
||||
let buf = pg.read().unwrap();
|
||||
tc_len = buf.len();
|
||||
tc_buf[0..tc_len].copy_from_slice(buf);
|
||||
}
|
||||
let (_tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
|
||||
|
||||
let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
|
||||
let accepted_token = reporter_with_sender_0
|
||||
.acceptance_success(token, &FIXED_STAMP)
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.expect("Acceptance success failed");
|
||||
|
||||
// Do some start handling here
|
||||
let started_token = reporter_with_sender_0
|
||||
.start_success(accepted_token, &FIXED_STAMP)
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.expect("Start success failed");
|
||||
// Do some step handling here
|
||||
reporter_with_sender_0
|
||||
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(0))
|
||||
.expect("Start success failed");
|
||||
|
||||
// Finish up
|
||||
reporter_with_sender_0
|
||||
.step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
|
||||
.step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(1))
|
||||
.expect("Start success failed");
|
||||
reporter_with_sender_0
|
||||
.completion_success(started_token, &FIXED_STAMP)
|
||||
.completion_success(started_token, Some(&FIXED_STAMP))
|
||||
.expect("Completion success failed");
|
||||
});
|
||||
|
||||
@ -120,18 +117,20 @@ pub mod crossbeam_test {
|
||||
{
|
||||
let mut tc_guard = shared_tc_pool_1.write().unwrap();
|
||||
let pg = tc_guard.read_with_guard(tc_addr);
|
||||
tc_len = pg.read(&mut tc_buf).unwrap();
|
||||
let buf = pg.read().unwrap();
|
||||
tc_len = buf.len();
|
||||
tc_buf[0..tc_len].copy_from_slice(buf);
|
||||
}
|
||||
let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
|
||||
let token = reporter_with_sender_1.add_tc(&tc);
|
||||
let accepted_token = reporter_with_sender_1
|
||||
.acceptance_success(token, &FIXED_STAMP)
|
||||
.acceptance_success(token, Some(&FIXED_STAMP))
|
||||
.expect("Acceptance success failed");
|
||||
let started_token = reporter_with_sender_1
|
||||
.start_success(accepted_token, &FIXED_STAMP)
|
||||
.start_success(accepted_token, Some(&FIXED_STAMP))
|
||||
.expect("Start success failed");
|
||||
let fail_code = EcssEnumU16::new(2);
|
||||
let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
|
||||
let params = FailParams::new(Some(&FIXED_STAMP), &fail_code, None);
|
||||
reporter_with_sender_1
|
||||
.completion_failure(started_token, params)
|
||||
.expect("Completion success failed");
|
||||
@ -146,13 +145,13 @@ pub mod crossbeam_test {
|
||||
.recv_timeout(Duration::from_millis(50))
|
||||
.expect("Packet reception timeout");
|
||||
let tm_len;
|
||||
let shared_tm_store = shared_tm_pool.clone_backing_pool();
|
||||
let shared_tm_store = shared_tm_store.clone_backing_pool();
|
||||
{
|
||||
let mut rg = shared_tm_store.write().expect("Error locking shared pool");
|
||||
let store_guard = rg.read_with_guard(verif_addr);
|
||||
tm_len = store_guard
|
||||
.read(&mut tm_buf)
|
||||
.expect("Error reading TM slice");
|
||||
let slice = store_guard.read().expect("Error reading TM slice");
|
||||
tm_len = slice.len();
|
||||
tm_buf[0..tm_len].copy_from_slice(slice);
|
||||
}
|
||||
let (pus_tm, _) =
|
||||
PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
|
||||
@ -22,7 +22,7 @@ use std::{
|
||||
};
|
||||
|
||||
use hashbrown::HashSet;
|
||||
use satrs::{
|
||||
use satrs_core::{
|
||||
encoding::cobs::encode_packet_with_cobs,
|
||||
hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer, TcpTmtcInCobsServer},
|
||||
tmtc::{ReceivesTcCore, TmPacketSourceCore},
|
||||
@ -19,14 +19,10 @@ num_enum = "0.7"
|
||||
thiserror = "1"
|
||||
derive-new = "0.5"
|
||||
|
||||
[dependencies.satrs]
|
||||
# version = "0.1.1"
|
||||
path = "../satrs"
|
||||
[dependencies.satrs-core]
|
||||
# version = "0.1.0-alpha.1"
|
||||
path = "../satrs-core"
|
||||
|
||||
[dependencies.satrs-mib]
|
||||
# version = "0.1.0"
|
||||
# version = "0.1.0-alpha.1"
|
||||
path = "../satrs-mib"
|
||||
|
||||
[features]
|
||||
dyn_tmtc = []
|
||||
default = ["dyn_tmtc"]
|
||||
|
||||
@ -3,32 +3,10 @@ sat-rs example
|
||||
|
||||
This crate contains an example application which simulates an on-board software.
|
||||
It uses various components provided by the sat-rs framework to do this. As such, it shows how
|
||||
a more complex real on-board software could be built from these components. It is recommended to
|
||||
read the dedicated
|
||||
[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
|
||||
the sat-rs book.
|
||||
a more complex real on-board software could be built from these components.
|
||||
The application opens a UDP server on port 7301 to receive telecommands.
|
||||
|
||||
The application opens a UDP and a TCP server on port 7301 to receive telecommands.
|
||||
|
||||
You can run the application using `cargo run`.
|
||||
|
||||
# Features
|
||||
|
||||
The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
|
||||
TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
|
||||
stores.
|
||||
|
||||
You can run the application without this feature using
|
||||
|
||||
```sh
|
||||
cargo run --no-default-features
|
||||
```
|
||||
|
||||
# Interacting with the sat-rs example
|
||||
|
||||
## Simple Client
|
||||
|
||||
The `simpleclient` binary target sends a
|
||||
You can run the application using `cargo run`. The `simpleclient` binary target sends a
|
||||
ping telecommand and then verifies the telemetry generated by the example application.
|
||||
It can be run like this:
|
||||
|
||||
@ -39,7 +17,7 @@ cargo run --bin simpleclient
|
||||
This repository also contains a more complex client using the
|
||||
[Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
|
||||
|
||||
## <a id="tmtccmd"></a> Using the tmtccmd Python client
|
||||
# <a id="tmtccmd"></a> Using the tmtccmd Python client
|
||||
|
||||
The python client requires a valid installation of the
|
||||
[tmtccmd package](https://github.com/robamu-org/tmtccmd).
|
||||
@ -68,7 +46,31 @@ as Python code. For example, you can use the following command to send a ping li
|
||||
the `simpleclient`:
|
||||
|
||||
```sh
|
||||
./main.py -p /test/ping
|
||||
./main.py -s test -o ping
|
||||
```
|
||||
|
||||
You can also simply call the script without any arguments to view the command tree.
|
||||
You can also simply call the script without any arguments to view a list of services (`-s` flag)
|
||||
and corresponding op codes (`-o` flag) for each service.
|
||||
|
||||
# Structure of the example project
|
||||
|
||||
The example project contains components which could also be expected to be part of a production
|
||||
On-Board Software.
|
||||
|
||||
1. A UDP and TCP server to receive telecommands and poll telemetry from. This might be an optional
|
||||
component for an OBSW which is only used during the development phase on ground. The TCP
|
||||
server parses space packets by using the CCSDS space packet ID as the packet start delimiter.
|
||||
2. A PUS service stack which exposes some functionality conformant with the ECSS PUS service. This
|
||||
currently includes the following services:
|
||||
- Service 1 for telecommand verification.
|
||||
- Service 3 for housekeeping telemetry handling.
|
||||
- Service 5 for management and downlink of on-board events.
|
||||
- Service 8 for handling on-board actions.
|
||||
- Service 11 for scheduling telecommands to be released at a specific time.
|
||||
- Service 17 for test purposes (pings)
|
||||
3. An event manager component which handles the event IPC mechanism.
|
||||
4. A TC source component which demultiplexes and routes telecommands based on parameters like
|
||||
packet APID or PUS service and subservice type.
|
||||
5. A TM sink sink component which is the target of all sent telemetry and sends it to downlink
|
||||
handlers like the UDP and TCP server.
|
||||
6. An AOCS example task which can also process some PUS commands.
|
||||
|
||||
@ -1,118 +0,0 @@
|
||||
use std::sync::mpsc::{self, TryRecvError};
|
||||
|
||||
use log::{info, warn};
|
||||
use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
|
||||
use satrs::pus::{EcssTmSender, PusTmWrapper};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
|
||||
use satrs::{
|
||||
hk::HkRequest,
|
||||
spacepackets::{
|
||||
ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
|
||||
time::cds::{DaysLen16Bits, TimeProvider},
|
||||
SequenceFlags, SpHeader,
|
||||
},
|
||||
};
|
||||
use satrs_example::config::{RequestTargetId, PUS_APID};
|
||||
|
||||
use crate::{
|
||||
hk::{AcsHkIds, HkUniqueId},
|
||||
requests::{Request, RequestWithToken},
|
||||
update_time,
|
||||
};
|
||||
|
||||
pub struct AcsTask {
|
||||
timestamp: [u8; 7],
|
||||
time_provider: TimeProvider<DaysLen16Bits>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
}
|
||||
|
||||
impl AcsTask {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
request_rx: mpsc::Receiver<RequestWithToken>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
) -> Self {
|
||||
Self {
|
||||
timestamp: [0; 7],
|
||||
time_provider: TimeProvider::new_with_u16_days(0, 0),
|
||||
verif_reporter,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
request_rx,
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
|
||||
assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
|
||||
if unique_id == AcsHkIds::TestMgmSet as u32 {
|
||||
let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(
|
||||
3,
|
||||
HkSubservice::TmHkPacket as u8,
|
||||
&self.timestamp,
|
||||
);
|
||||
let mut buf: [u8; 8] = [0; 8];
|
||||
let hk_id = HkUniqueId::new(target_id, unique_id);
|
||||
hk_id.write_to_be_bytes(&mut buf).unwrap();
|
||||
let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
|
||||
self.tm_sender
|
||||
.send_tm(PusTmWrapper::Direct(pus_tm))
|
||||
.expect("Sending HK TM failed");
|
||||
}
|
||||
// TODO: Verification failure for invalid unique IDs.
|
||||
}
|
||||
|
||||
pub fn try_reading_one_request(&mut self) -> bool {
|
||||
match self.request_rx.try_recv() {
|
||||
Ok(request) => {
|
||||
info!(
|
||||
"ACS thread: Received HK request {:?}",
|
||||
request.targeted_request
|
||||
);
|
||||
let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
|
||||
match request.targeted_request.request {
|
||||
Request::Hk(hk_req) => match hk_req {
|
||||
HkRequest::OneShot(unique_id) => {
|
||||
self.handle_hk_request(target_and_apid_id.target(), unique_id)
|
||||
}
|
||||
HkRequest::Enable(_) => {}
|
||||
HkRequest::Disable(_) => {}
|
||||
HkRequest::ModifyCollectionInterval(_, _) => {}
|
||||
},
|
||||
Request::Mode(_mode_req) => {
|
||||
warn!("mode request handling not implemented yet")
|
||||
}
|
||||
Request::Action(_action_req) => {
|
||||
warn!("action request handling not implemented yet")
|
||||
}
|
||||
}
|
||||
let started_token = self
|
||||
.verif_reporter
|
||||
.start_success(request.token, &self.timestamp)
|
||||
.expect("Sending start success failed");
|
||||
self.verif_reporter
|
||||
.completion_success(started_token, &self.timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
true
|
||||
}
|
||||
Err(e) => match e {
|
||||
TryRecvError::Empty => false,
|
||||
TryRecvError::Disconnected => {
|
||||
warn!("ACS thread: Message Queue TX disconnected!");
|
||||
false
|
||||
}
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
loop {
|
||||
if !self.try_reading_one_request() {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,11 +1,11 @@
|
||||
use satrs::pus::verification::RequestId;
|
||||
use satrs::spacepackets::ecss::tc::PusTcCreator;
|
||||
use satrs::spacepackets::ecss::tm::PusTmReader;
|
||||
use satrs::{
|
||||
use satrs_core::pus::verification::RequestId;
|
||||
use satrs_core::spacepackets::ecss::tc::PusTcCreator;
|
||||
use satrs_core::spacepackets::ecss::tm::PusTmReader;
|
||||
use satrs_core::{
|
||||
spacepackets::ecss::{PusPacket, WritablePusPacket},
|
||||
spacepackets::SpHeader,
|
||||
};
|
||||
use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use satrs_example::{OBSW_SERVER_ADDR, SERVER_PORT};
|
||||
use std::net::{IpAddr, SocketAddr, UdpSocket};
|
||||
use std::time::Duration;
|
||||
|
||||
|
||||
@ -1,22 +1,15 @@
|
||||
use satrs::pus::ReceivesEcssPusTc;
|
||||
use satrs::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_example::config::PUS_APID;
|
||||
use crate::tmtc::{MpscStoreAndSendError, PusTcSource};
|
||||
use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
|
||||
use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
|
||||
use satrs_example::PUS_APID;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct CcsdsReceiver<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
|
||||
E,
|
||||
> {
|
||||
pub tc_source: TcSource,
|
||||
pub struct CcsdsReceiver {
|
||||
pub tc_source: PusTcSource,
|
||||
}
|
||||
|
||||
impl<
|
||||
TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
|
||||
E: 'static,
|
||||
> CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
|
||||
{
|
||||
type Error = E;
|
||||
impl CcsdsPacketHandler for CcsdsReceiver {
|
||||
type Error = MpscStoreAndSendError;
|
||||
|
||||
fn valid_apids(&self) -> &'static [u16] {
|
||||
&[PUS_APID]
|
||||
|
||||
@ -1,165 +0,0 @@
|
||||
use satrs::res_code::ResultU16;
|
||||
use satrs_mib::res_code::ResultU16Info;
|
||||
use satrs_mib::resultcode;
|
||||
use std::net::Ipv4Addr;
|
||||
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs::{
|
||||
events::{EventU32TypedSev, SeverityInfo},
|
||||
pool::{StaticMemoryPool, StaticPoolConfig},
|
||||
};
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
Mode = 200,
|
||||
Health = 201,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
|
||||
pub enum RequestTargetId {
|
||||
AcsSubsystem = 1,
|
||||
}
|
||||
|
||||
pub const AOCS_APID: u16 = 1;
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
}
|
||||
|
||||
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
||||
pub const SERVER_PORT: u16 = 7301;
|
||||
|
||||
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
|
||||
|
||||
pub mod tmtc_err {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
|
||||
#[resultcode]
|
||||
pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
8 bytes of failure data containing 2 failure parameters, \
|
||||
P1 (u32 big endian): Expected data length, P2: Found data length"
|
||||
)]
|
||||
pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
|
||||
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
PUS_SERVICE_NOT_IMPLEMENTED_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
ROUTING_ERROR_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
pub mod hk_err {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
|
||||
#[resultcode]
|
||||
pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 1);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
|
||||
#[resultcode]
|
||||
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
|
||||
|
||||
pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
|
||||
TARGET_ID_MISSING_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
UNKNOWN_TARGET_ID_EXT,
|
||||
COLLECTION_INTERVAL_MISSING_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
#[allow(clippy::enum_variant_names)]
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmSenderId {
|
||||
PusVerification = 0,
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
AllEvents = 6,
|
||||
AcsSubsystem = 7,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TcReceiverId {
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
}
|
||||
pub mod pool {
|
||||
use super::*;
|
||||
pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
|
||||
(
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(
|
||||
vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
],
|
||||
true,
|
||||
)),
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(
|
||||
vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
],
|
||||
true,
|
||||
)),
|
||||
)
|
||||
}
|
||||
|
||||
pub fn create_sched_tc_pool() -> StaticMemoryPool {
|
||||
StaticMemoryPool::new(StaticPoolConfig::new(
|
||||
vec![
|
||||
(30, 32),
|
||||
(15, 64),
|
||||
(15, 128),
|
||||
(15, 256),
|
||||
(15, 1024),
|
||||
(15, 2048),
|
||||
],
|
||||
true,
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
pub mod tasks {
|
||||
pub const FREQ_MS_UDP_TMTC: u64 = 200;
|
||||
pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
|
||||
pub const FREQ_MS_AOCS: u64 = 500;
|
||||
pub const FREQ_MS_PUS_STACK: u64 = 200;
|
||||
}
|
||||
@ -1,190 +0,0 @@
|
||||
use std::sync::mpsc::{self, SendError};
|
||||
|
||||
use satrs::{
|
||||
event_man::{
|
||||
EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
|
||||
SendEventProvider,
|
||||
},
|
||||
events::EventU32,
|
||||
params::Params,
|
||||
pus::{
|
||||
event_man::{
|
||||
DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
|
||||
PusEventDispatcher,
|
||||
},
|
||||
verification::{
|
||||
TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
},
|
||||
EcssTmSender,
|
||||
},
|
||||
spacepackets::time::cds::{self, TimeProvider},
|
||||
};
|
||||
use satrs_example::config::PUS_APID;
|
||||
|
||||
use crate::update_time;
|
||||
|
||||
pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
|
||||
|
||||
pub struct PusEventHandler {
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
|
||||
pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
time_provider: TimeProvider,
|
||||
timestamp: [u8; 7],
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
}
|
||||
/*
|
||||
*/
|
||||
|
||||
impl PusEventHandler {
|
||||
pub fn new(
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_manager: &mut MpscEventManager,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
tm_sender: impl EcssTmSender,
|
||||
) -> Self {
|
||||
let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
|
||||
|
||||
// All events sent to the manager are routed to the PUS event manager, which generates PUS event
|
||||
// telemetry for each event.
|
||||
let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
|
||||
let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
|
||||
let pus_event_dispatcher =
|
||||
PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
|
||||
let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
|
||||
|
||||
event_manager.subscribe_all(pus_event_man_send_provider.id());
|
||||
event_manager.add_sender(pus_event_man_send_provider);
|
||||
|
||||
Self {
|
||||
event_request_rx,
|
||||
pus_event_dispatcher,
|
||||
pus_event_man_rx,
|
||||
time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
|
||||
timestamp: [0; 7],
|
||||
verif_handler,
|
||||
tm_sender: Box::new(tm_sender),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn handle_event_requests(&mut self) {
|
||||
let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
|
||||
let started_token: VerificationToken<TcStateStarted> = event_req
|
||||
.token
|
||||
.try_into()
|
||||
.expect("expected start verification token");
|
||||
self.verif_handler
|
||||
.completion_success(started_token, timestamp)
|
||||
.expect("Sending completion success failed");
|
||||
};
|
||||
// handle event requests
|
||||
if let Ok(event_req) = self.event_request_rx.try_recv() {
|
||||
match event_req.request {
|
||||
EventRequest::Enable(event) => {
|
||||
self.pus_event_dispatcher
|
||||
.enable_tm_for_event(&event)
|
||||
.expect("Enabling TM failed");
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
report_completion(event_req, &self.timestamp);
|
||||
}
|
||||
EventRequest::Disable(event) => {
|
||||
self.pus_event_dispatcher
|
||||
.disable_tm_for_event(&event)
|
||||
.expect("Disabling TM failed");
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
report_completion(event_req, &self.timestamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn generate_pus_event_tm(&mut self) {
|
||||
// Perform the generation of PUS event packets
|
||||
if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
|
||||
update_time(&mut self.time_provider, &mut self.timestamp);
|
||||
self.pus_event_dispatcher
|
||||
.generate_pus_event_tm_generic(
|
||||
self.tm_sender.upcast_mut(),
|
||||
&self.timestamp,
|
||||
event,
|
||||
None,
|
||||
)
|
||||
.expect("Sending TM as event failed");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventManagerWrapper {
|
||||
event_manager: MpscEventManager,
|
||||
event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
|
||||
}
|
||||
|
||||
impl EventManagerWrapper {
|
||||
pub fn new() -> Self {
|
||||
// The sender handle is the primary sender handle for all components which want to create events.
|
||||
// The event manager will receive the RX handle to receive all the events.
|
||||
let (event_sender, event_man_rx) = mpsc::channel();
|
||||
let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
|
||||
Self {
|
||||
event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
|
||||
event_sender,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_sender.clone()
|
||||
}
|
||||
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
&mut self.event_manager
|
||||
}
|
||||
|
||||
pub fn try_event_routing(&mut self) {
|
||||
// Perform the event routing.
|
||||
self.event_manager
|
||||
.try_event_handling()
|
||||
.expect("event handling failed");
|
||||
}
|
||||
}
|
||||
|
||||
pub struct EventHandler {
|
||||
pub event_man_wrapper: EventManagerWrapper,
|
||||
pub pus_event_handler: PusEventHandler,
|
||||
}
|
||||
|
||||
impl EventHandler {
|
||||
pub fn new(
|
||||
tm_sender: impl EcssTmSender,
|
||||
verif_handler: VerificationReporterWithSender,
|
||||
event_request_rx: mpsc::Receiver<EventRequestWithToken>,
|
||||
) -> Self {
|
||||
let mut event_man_wrapper = EventManagerWrapper::new();
|
||||
let pus_event_handler = PusEventHandler::new(
|
||||
verif_handler,
|
||||
event_man_wrapper.event_manager(),
|
||||
event_request_rx,
|
||||
tm_sender,
|
||||
);
|
||||
Self {
|
||||
event_man_wrapper,
|
||||
pus_event_handler,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
|
||||
self.event_man_wrapper.clone_event_sender()
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
pub fn event_manager(&mut self) -> &mut MpscEventManager {
|
||||
self.event_man_wrapper.event_manager()
|
||||
}
|
||||
|
||||
pub fn periodic_operation(&mut self) {
|
||||
self.pus_event_handler.handle_event_requests();
|
||||
self.event_man_wrapper.try_event_routing();
|
||||
self.pus_event_handler.generate_pus_event_tm();
|
||||
}
|
||||
}
|
||||
@ -1,5 +1,5 @@
|
||||
use derive_new::new;
|
||||
use satrs::spacepackets::ByteConversionError;
|
||||
use satrs_core::spacepackets::ByteConversionError;
|
||||
|
||||
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
|
||||
pub enum AcsHkIds {
|
||||
|
||||
@ -1 +1,157 @@
|
||||
pub mod config;
|
||||
use derive_new::new;
|
||||
use num_enum::{IntoPrimitive, TryFromPrimitive};
|
||||
use satrs_core::events::{EventU32TypedSev, SeverityInfo};
|
||||
use satrs_core::objects::ObjectId;
|
||||
use satrs_core::spacepackets::ecss::tc::IsPusTelecommand;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_core::spacepackets::{ByteConversionError, CcsdsPacket};
|
||||
use satrs_core::tmtc::TargetId;
|
||||
use std::fmt;
|
||||
use std::net::Ipv4Addr;
|
||||
use thiserror::Error;
|
||||
|
||||
use satrs_mib::res_code::{ResultU16, ResultU16Info};
|
||||
use satrs_mib::resultcode;
|
||||
|
||||
pub type Apid = u16;
|
||||
|
||||
#[derive(Debug, Error)]
|
||||
pub enum TargetIdCreationError {
|
||||
#[error("byte conversion")]
|
||||
ByteConversion(#[from] ByteConversionError),
|
||||
#[error("not enough app data to generate target ID")]
|
||||
NotEnoughAppData(usize),
|
||||
}
|
||||
|
||||
// TODO: can these stay pub?
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
|
||||
pub struct TargetIdWithApid {
|
||||
pub apid: Apid,
|
||||
pub target: TargetId,
|
||||
}
|
||||
|
||||
impl fmt::Display for TargetIdWithApid {
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
write!(f, "{}, {}", self.apid, self.target)
|
||||
}
|
||||
}
|
||||
|
||||
impl TargetIdWithApid {
|
||||
pub fn apid(&self) -> Apid {
|
||||
self.apid
|
||||
}
|
||||
pub fn target_id(&self) -> TargetId {
|
||||
self.target
|
||||
}
|
||||
}
|
||||
|
||||
impl TargetIdWithApid {
|
||||
pub fn from_tc(
|
||||
tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
|
||||
) -> Result<Self, TargetIdCreationError> {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(ByteConversionError::FromSliceTooSmall {
|
||||
found: tc.user_data().len(),
|
||||
expected: 8,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
Ok(Self {
|
||||
apid: tc.apid(),
|
||||
target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
|
||||
#[repr(u8)]
|
||||
pub enum CustomPusServiceId {
|
||||
Mode = 200,
|
||||
Health = 201,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Eq, PartialEq, Debug)]
|
||||
pub enum RequestTargetId {
|
||||
AcsSubsystem = 1,
|
||||
}
|
||||
|
||||
pub const AOCS_APID: u16 = 1;
|
||||
|
||||
pub const ACS_OBJECT_ID: ObjectId = ObjectId {
|
||||
id: RequestTargetId::AcsSubsystem as u32,
|
||||
name: "ACS_SUBSYSTEM",
|
||||
};
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum GroupId {
|
||||
Tmtc = 0,
|
||||
Hk = 1,
|
||||
}
|
||||
|
||||
pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
|
||||
pub const SERVER_PORT: u16 = 7301;
|
||||
|
||||
pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
|
||||
EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
|
||||
|
||||
pub mod tmtc_err {
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
|
||||
#[resultcode]
|
||||
pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
|
||||
#[resultcode]
|
||||
pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
|
||||
|
||||
#[resultcode(
|
||||
info = "Not enough data inside the TC application data field. Optionally includes: \
|
||||
8 bytes of failure data containing 2 failure parameters, \
|
||||
P1 (u32 big endian): Expected data length, P2: Found data length"
|
||||
)]
|
||||
pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
|
||||
|
||||
pub const TMTC_RESULTS: &[ResultU16Info] = &[
|
||||
INVALID_PUS_SERVICE_EXT,
|
||||
INVALID_PUS_SUBSERVICE_EXT,
|
||||
NOT_ENOUGH_APP_DATA_EXT,
|
||||
];
|
||||
}
|
||||
|
||||
pub mod hk_err {
|
||||
use super::*;
|
||||
|
||||
#[resultcode]
|
||||
pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
|
||||
#[resultcode]
|
||||
pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
|
||||
#[resultcode]
|
||||
pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
|
||||
#[resultcode]
|
||||
pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
|
||||
}
|
||||
|
||||
#[allow(clippy::enum_variant_names)]
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TmSenderId {
|
||||
PusVerification = 0,
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
AllEvents = 6,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq, Eq)]
|
||||
pub enum TcReceiverId {
|
||||
PusTest = 1,
|
||||
PusEvent = 2,
|
||||
PusHk = 3,
|
||||
PusAction = 4,
|
||||
PusSched = 5,
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,153 +1,151 @@
|
||||
use crate::requests::{ActionRequest, Request, RequestWithToken};
|
||||
use log::{error, warn};
|
||||
use satrs::action::ActionRequest;
|
||||
use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
|
||||
use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
|
||||
VerificationToken,
|
||||
use satrs_core::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
|
||||
};
|
||||
use satrs::pus::{
|
||||
EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
|
||||
MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
|
||||
PusPacketHandlingError, PusServiceHelper,
|
||||
use satrs_core::pus::{
|
||||
EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
|
||||
PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
|
||||
};
|
||||
use satrs::request::TargetAndApidId;
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::PusPacket;
|
||||
use satrs::tmtc::tm_helper::SharedTmPool;
|
||||
use satrs::{ChannelId, TargetId};
|
||||
use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
|
||||
use std::sync::mpsc::{self};
|
||||
use satrs_core::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs_core::spacepackets::ecss::PusPacket;
|
||||
use satrs_example::{tmtc_err, TargetIdWithApid};
|
||||
use std::collections::HashMap;
|
||||
use std::sync::mpsc::Sender;
|
||||
|
||||
use crate::requests::GenericRequestRouter;
|
||||
pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
|
||||
service_helper: PusServiceHelper<TcInMemConverter>,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
}
|
||||
|
||||
use super::GenericRoutingErrorHandler;
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
|
||||
pub fn new(
|
||||
tc_receiver: Box<dyn EcssTcReceiver>,
|
||||
tm_sender: Box<dyn EcssTmSender>,
|
||||
tm_apid: u16,
|
||||
verification_handler: VerificationReporterWithSender,
|
||||
tc_in_mem_converter: TcInMemConverter,
|
||||
request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
|
||||
) -> Self {
|
||||
Self {
|
||||
service_helper: PusServiceHelper::new(
|
||||
tc_receiver,
|
||||
tm_sender,
|
||||
tm_apid,
|
||||
verification_handler,
|
||||
tc_in_mem_converter,
|
||||
),
|
||||
request_handlers,
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct ExampleActionRequestConverter {}
|
||||
|
||||
impl PusActionToRequestConverter for ExampleActionRequestConverter {
|
||||
type Error = PusPacketHandlingError;
|
||||
|
||||
fn convert(
|
||||
&mut self,
|
||||
fn handle_action_request_with_id(
|
||||
&self,
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
tc: &PusTcReader,
|
||||
time_stamp: &[u8],
|
||||
verif_reporter: &impl VerificationReportingProvider,
|
||||
) -> Result<(TargetId, ActionRequest), Self::Error> {
|
||||
let subservice = tc.subservice();
|
||||
) -> Result<(), PusPacketHandlingError> {
|
||||
let user_data = tc.user_data();
|
||||
if user_data.len() < 8 {
|
||||
verif_reporter
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
|
||||
FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData {
|
||||
expected: 8,
|
||||
found: user_data.len(),
|
||||
});
|
||||
return Err(PusPacketHandlingError::NotEnoughAppData(
|
||||
"Expected at least 4 bytes".into(),
|
||||
));
|
||||
}
|
||||
let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
|
||||
//let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
|
||||
let target_id = TargetIdWithApid::from_tc(tc).unwrap();
|
||||
let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
|
||||
if subservice == 128 {
|
||||
Ok((
|
||||
target_id.raw(),
|
||||
ActionRequest::UnsignedIdAndVecData {
|
||||
action_id,
|
||||
data: user_data[8..].to_vec(),
|
||||
},
|
||||
))
|
||||
if let Some(sender) = self.request_handlers.get(&target_id) {
|
||||
sender
|
||||
.send(RequestWithToken::new(
|
||||
target_id,
|
||||
Request::Action(ActionRequest::CmdWithU32Id((
|
||||
action_id,
|
||||
Vec::from(&user_data[8..]),
|
||||
))),
|
||||
token,
|
||||
))
|
||||
.expect("Forwarding action request failed");
|
||||
} else {
|
||||
verif_reporter
|
||||
let mut fail_data: [u8; 4] = [0; 4];
|
||||
fail_data.copy_from_slice(&target_id.target.to_be_bytes());
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.borrow_mut()
|
||||
.start_failure(
|
||||
token,
|
||||
FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
|
||||
FailParams::new(
|
||||
Some(time_stamp),
|
||||
&tmtc_err::UNKNOWN_TARGET_ID,
|
||||
Some(&fail_data),
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
Err(PusPacketHandlingError::InvalidSubservice(subservice))
|
||||
return Err(PusPacketHandlingError::Other(format!(
|
||||
"Unknown target ID {target_id}"
|
||||
)));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
|
||||
let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
|
||||
if possible_packet.is_none() {
|
||||
return Ok(PusPacketHandlerResult::Empty);
|
||||
}
|
||||
let ecss_tc_and_token = possible_packet.unwrap();
|
||||
self.service_helper
|
||||
.tc_in_mem_converter
|
||||
.cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
|
||||
let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
|
||||
let subservice = tc.subservice();
|
||||
let mut partial_error = None;
|
||||
let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
|
||||
match subservice {
|
||||
128 => {
|
||||
self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
|
||||
}
|
||||
_ => {
|
||||
let fail_data = [subservice];
|
||||
self.service_helper
|
||||
.common
|
||||
.verification_handler
|
||||
.get_mut()
|
||||
.start_failure(
|
||||
ecss_tc_and_token.token,
|
||||
FailParams::new(
|
||||
Some(&time_stamp),
|
||||
&tmtc_err::INVALID_PUS_SUBSERVICE,
|
||||
Some(&fail_data),
|
||||
),
|
||||
)
|
||||
.expect("Sending start failure failed");
|
||||
return Err(PusPacketHandlingError::InvalidSubservice(subservice));
|
||||
}
|
||||
}
|
||||
if let Some(partial_error) = partial_error {
|
||||
return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
|
||||
partial_error,
|
||||
));
|
||||
}
|
||||
Ok(PusPacketHandlerResult::RequestHandled)
|
||||
}
|
||||
}
|
||||
|
||||
pub fn create_action_service_static(
|
||||
shared_tm_store: SharedTmPool,
|
||||
tm_funnel_tx: mpsc::Sender<StoreAddr>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
tc_pool: SharedStaticMemoryPool,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
|
||||
let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
|
||||
TmSenderId::PusAction as ChannelId,
|
||||
"PUS_8_TM_SENDER",
|
||||
shared_tm_store.clone(),
|
||||
tm_funnel_tx.clone(),
|
||||
);
|
||||
let action_srv_receiver = MpscTcReceiver::new(
|
||||
TcReceiverId::PusAction as ChannelId,
|
||||
"PUS_8_TC_RECV",
|
||||
pus_action_rx,
|
||||
);
|
||||
let pus_8_handler = PusService8ActionHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
pub struct Pus8Wrapper {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
|
||||
}
|
||||
|
||||
pub fn create_action_service_dynamic(
|
||||
tm_funnel_tx: mpsc::Sender<Vec<u8>>,
|
||||
verif_reporter: VerificationReporterWithSender,
|
||||
pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
|
||||
action_router: GenericRequestRouter,
|
||||
) -> Pus8Wrapper<EcssTcInVecConverter> {
|
||||
let action_srv_tm_sender = MpscTmAsVecSender::new(
|
||||
TmSenderId::PusAction as ChannelId,
|
||||
"PUS_8_TM_SENDER",
|
||||
tm_funnel_tx.clone(),
|
||||
);
|
||||
let action_srv_receiver = MpscTcReceiver::new(
|
||||
TcReceiverId::PusAction as ChannelId,
|
||||
"PUS_8_TC_RECV",
|
||||
pus_action_rx,
|
||||
);
|
||||
let pus_8_handler = PusService8ActionHandler::new(
|
||||
PusServiceHelper::new(
|
||||
Box::new(action_srv_receiver),
|
||||
Box::new(action_srv_tm_sender),
|
||||
PUS_APID,
|
||||
verif_reporter.clone(),
|
||||
EcssTcInVecConverter::default(),
|
||||
),
|
||||
ExampleActionRequestConverter::default(),
|
||||
action_router,
|
||||
GenericRoutingErrorHandler::<8>::default(),
|
||||
);
|
||||
Pus8Wrapper { pus_8_handler }
|
||||
}
|
||||
|
||||
pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
|
||||
pub(crate) pus_8_handler: PusService8ActionHandler<
|
||||
TcInMemConverter,
|
||||
VerificationReporterWithSender,
|
||||
ExampleActionRequestConverter,
|
||||
GenericRequestRouter,
|
||||
GenericRoutingErrorHandler<8>,
|
||||
>,
|
||||
}
|
||||
|
||||
impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
|
||||
impl Pus8Wrapper {
|
||||
pub fn handle_next_packet(&mut self) -> bool {
|
||||
match self.pus_8_handler.handle_one_tc() {
|
||||
Ok(result) => match result {
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user